From 84b615142053b104da3a7f603ce4fea423caf25a Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Sun, 13 Mar 2022 21:54:12 +0100
Subject: [PATCH 01/14] Added images for surfacelines
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
.../OSI_LaneBoundaries_And_SurfaceLines.svg | 1171 +++++++++++++++++
.../strassenquerschnitt_surfacelines.png | Bin 0 -> 105352 bytes
2 files changed, 1171 insertions(+)
create mode 100644 doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
create mode 100644 doc/images/strassenquerschnitt_surfacelines.png
diff --git a/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
new file mode 100644
index 000000000..34a29fc29
--- /dev/null
+++ b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
@@ -0,0 +1,1171 @@
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HcmV?d00001
From c7ac49b006e8ff2082d136d4c8201a544c1a64d8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Sun, 13 Mar 2022 21:56:05 +0100
Subject: [PATCH 02/14] Added first version of osi_surfacelines.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_surfaceline.proto | 123 ++++++++++++++++++++++++++++++++++++++++++
1 file changed, 123 insertions(+)
create mode 100644 osi_surfaceline.proto
diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto
new file mode 100644
index 000000000..c70956c72
--- /dev/null
+++ b/osi_surfaceline.proto
@@ -0,0 +1,123 @@
+syntax = "proto2";
+
+option optimize_for = SPEED;
+
+import "osi_common.proto";
+import "osi_lane.proto";
+
+package osi3;
+
+// A lane's surfaceline (as a list of segments).
+//
+// \brief Surfacelines describe the height profile along the lane
+// Multiple surfacelines can be used to create a certain road shape if needed
+
+// The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary.
+// \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px
+//
+// \note
+// sl: surfaceline
+// lb: lane boundary
+//
+// \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px
+//
+// \attention The points of all surfacelines must be set in the
+// same ordering (ascending or descending) as the points describing the
+// lane boundaries or lane. Example: If the points are deducted from
+// a map format, the order of points is recommended to be in line with the
+// road coordinate (e.g. s-coordinate in OpenDRIVE).
+//
+// \attention The points describing the surfaceline might be set at
+// arbitrary distances. This allowes to model certain height changes along the
+// lane like speed bumps etc. more detailed while still allow very few points
+// at parts of the lane where height does not change much.
+//
+// \note The surfaceline is the line that describes the height profile
+// along the lane.
+//
+// \attention If more than one surfaceline exists, they are not allowed to cross each other
+// or the lane boundaries, otherwise you could have conflicting height information at these points.
+//
+message SurfaceLine
+{
+ // The ID of the surfaceline.
+ // Example: sl1 (see \ref Surfacelines).
+ //
+ // \note Note ID is global unique.
+ //
+ // \rules
+ // is_globally_unique
+ // \endrules
+ //
+ optional Identifier id = 1;
+
+ // points making up the surfaceline
+ //
+ // If the surfaceline approximates a curve (e.g. a cubic function in
+ // OpenDRIVE), the points must be chosen in a way that the lateral distance
+ // to the ideal line does not exceed 5cm. As shown in the following image:
+ //
+ // \image html line_approximation_error.svg "Approximation error"
+ // Approximation error green line.
+ //
+ // The Z error (difference in Z height between surfaceline and the "real"
+ // line) must not exceed 2cm, since height gaps are more noticable.
+ //
+ repeated SurfaceLinePoint surfaceline = 2;
+
+ // Definition of the placement of the newly introduced surfaceline in the center of the lane.
+ //
+ // Defined and used for driving lanes.
+ // \c true means that the surfaceline is also the centerline of the lane.
+ //
+ // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2
+ // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in
+ // image \ref Surfacelines .
+ //
+ // \note The \c osi3::Lane::Classification::#centerline is defined only for
+ // \c osi3::Lane::Classification::#type =
+ // \c osi3::Lane::Classification::Type::#TYPE_DRIVING and if exactly one or no
+ // \c osi3::Lane::Classification::#lane_pairing pair exists.
+ //
+ optional bool surfaceline_is_centerline = 3;
+
+ // ID of the surfaceline that is next left to the surfaceline
+ // (w.r.t. ascending order of surfaceline points).
+ //
+ // \note If there is no surfaceline to the left, this will mean its located at the
+ // left LaneBoundary.
+ //
+ // \proposal In order to model curb stones, one surfaceline will be placed at the lower edge
+ // of the curb that belongs to the border lane/driving lane and another one on the upper edge
+ // that will belong to the sidewalk
+ // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608)
+ //
+ optional Identifier left_surfaceline_id = 4;
+
+ // ID of the surfaceline that is next right to the surfaceline
+ // (w.r.t. ascending order of surfaceline points)
+ //
+ // \note If there is no surfaceline to the right, this will mean its located at the
+ // right LaneBoundary
+ //
+ optional Identifier right_surfaceline_id = 5;
+
+ // \note If this surfaceline is located at the left LaneBoundary
+ // we can double check with an empty left_surfaceline_id
+ //
+ optional bool is_at_left_lane_boundary = 6;
+
+ // \note If this surfaceline is located at the right LaneBoundary
+ // we can double check with an empty right_surfaceline_id
+ //
+ optional bool is_at_right_lane_boundary = 7;
+
+ // \brief Definition of the points that make up a surfaceline
+ //
+ message SurfaceLinePoint {
+
+ // The position of the \c SurfaceLinePoint.
+ //
+ optional Vector3d position = 1;
+ }
+}
From 4415cae90589e6b85c4e671767c8dbd7bd14e6cf Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Sun, 13 Mar 2022 22:34:56 +0100
Subject: [PATCH 03/14] Update osi_lane.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Added the surfaceline message to OSI_Lane.proto
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_lane.proto | 116 +++++++++++++++++++++++++++++++++++++++++++++++++
1 file changed, 116 insertions(+)
diff --git a/osi_lane.proto b/osi_lane.proto
index 9f14fcb39..5f461b299 100644
--- a/osi_lane.proto
+++ b/osi_lane.proto
@@ -375,6 +375,11 @@ message Lane
// This subtype specifies a lane more concretely.
//
optional Subtype subtype = 12;
+
+ // The list of surfacelines of the lanes.
+ //
+ // This surfacelines decribe the height or road shape profile along the lane.
+ repeated SurfaceLine surfacelines = 13;
// Definition of available lane types.
//
@@ -678,6 +683,116 @@ message Lane
//
optional Identifier successor_lane_id = 2;
}
+
+ // A lane's surfaceline (as a list of segments).
+ //
+ // \brief Surfacelines describe the height profile along the lane
+ // Multiple surfacelines can be used to create a certain road shape if needed
+
+ // The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary.
+ // \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px
+ //
+ // \note
+ // sl: surfaceline
+ // lb: lane boundary
+ //
+ // \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px
+ //
+ // \attention The points of all surfacelines must be set in the
+ // same ordering (ascending or descending) as the points describing the
+ // lane boundaries or lane. Example: If the points are deducted from
+ // a map format, the order of points is recommended to be in line with the
+ // road coordinate (e.g. s-coordinate in OpenDRIVE).
+ //
+ // \attention The points describing the surfaceline might be set at
+ // arbitrary distances. This allowes to model certain height changes along the
+ // lane like speed bumps etc. more detailed while still allow very few points
+ // at parts of the lane where height does not change much.
+ //
+ // \note The surfaceline is the line that describes the height profile
+ // along the lane.
+ //
+ // \attention If more than one surfaceline exists, they are not allowed to cross each other
+ // or the lane boundaries, otherwise you could have conflicting height information at these points.
+ //
+ message SurfaceLine
+ {
+ // The ID of the surfaceline.
+ // Example: sl1 (see \ref Surfacelines).
+ //
+ // \note Note ID is global unique.
+ //
+ // \rules
+ // is_globally_unique
+ // \endrules
+ //
+ optional Identifier surfaceline_id = 1;
+
+ // points making up the surfaceline
+ //
+ // If the surfaceline approximates a curve (e.g. a cubic function in
+ // OpenDRIVE), the points must be chosen in a way that the lateral distance
+ // to the ideal line does not exceed 5cm. As shown in the following image:
+ //
+ // \image html line_approximation_error.svg "Approximation error"
+ // Approximation error green line.
+ //
+ // The Z error (difference in Z height between surfaceline and the "real"
+ // line) must not exceed 2cm, since height gaps are more noticable.
+ //
+ repeated SurfaceLinePoint surfaceline = 2;
+
+ // Definition of the placement of the newly introduced surfaceline in the center of the lane.
+ //
+ // Defined and used for driving lanes.
+ // \c true means that the surfaceline is also the centerline of the lane.
+ //
+ // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2
+ // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in
+ // image \ref Surfacelines .
+ //
+ optional bool surfaceline_is_centerline = 3;
+
+ // ID of the surfaceline that is next left to the surfaceline
+ // (w.r.t. ascending order of surfaceline points).
+ //
+ // \note If there is no surfaceline to the left, this will mean its located at the
+ // left LaneBoundary.
+ //
+ // \proposal In order to model curb stones, one surfaceline will be placed at the lower edge
+ // of the curb that belongs to the border lane/driving lane and another one on the upper edge
+ // that will belong to the sidewalk
+ // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608)
+ //
+ optional Identifier left_surfaceline_id = 4;
+
+ // ID of the surfaceline that is next right to the surfaceline
+ // (w.r.t. ascending order of surfaceline points)
+ //
+ // \note If there is no surfaceline to the right, this will mean its located at the
+ // right LaneBoundary
+ //
+ optional Identifier right_surfaceline_id = 5;
+
+ // \note If this surfaceline is located at the left LaneBoundary
+ // we can double check with an empty left_surfaceline_id
+ //
+ optional bool is_at_left_lane_boundary = 6;
+
+ // \note If this surfaceline is located at the right LaneBoundary
+ // we can double check with an empty right_surfaceline_id
+ //
+ optional bool is_at_right_lane_boundary = 7;
+
+ // \brief Definition of the points that make up a surfaceline
+ //
+ message SurfaceLinePoint {
+
+ // The position of the \c SurfaceLinePoint.
+ //
+ optional Vector3d position = 1;
+ }
+ }
}
}
@@ -1105,3 +1220,4 @@ message LaneBoundary
}
}
}
+
From ff00302b4450699144229b52f2e4569694e90227 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Mon, 14 Mar 2022 09:55:05 +0100
Subject: [PATCH 04/14] Update osi_lane.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Updated explanation why surfacelines are not defined for lanes of TYPE_INTERSECTION yet.
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_lane.proto | 5 ++++-
1 file changed, 4 insertions(+), 1 deletion(-)
diff --git a/osi_lane.proto b/osi_lane.proto
index 5f461b299..93ddc2d24 100644
--- a/osi_lane.proto
+++ b/osi_lane.proto
@@ -379,7 +379,10 @@ message Lane
// The list of surfacelines of the lanes.
//
// This surfacelines decribe the height or road shape profile along the lane.
- repeated SurfaceLine surfacelines = 13;
+ // It is currently undefined in lanes of \c #Type = \c #TYPE_INTERSECTION
+ // because shapes of interesections are very different from typical roads and
+ // the surfaceline concept should incorporate that
+ repeated SurfaceLine surfaceline = 13;
// Definition of available lane types.
//
From efe4ed95cea00acf9cab710d690b060991ee7be8 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Mon, 14 Mar 2022 11:25:53 +0100
Subject: [PATCH 05/14] Update osi_lane.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Edited description of is_at_left_lane_boundary and is_at_right_lane_boundary to clarify intended usage.
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_lane.proto | 33 +++++++++++++++++++++++----------
1 file changed, 23 insertions(+), 10 deletions(-)
diff --git a/osi_lane.proto b/osi_lane.proto
index 93ddc2d24..b1f93501a 100644
--- a/osi_lane.proto
+++ b/osi_lane.proto
@@ -238,6 +238,9 @@ message Lane
// A vehicle must calculate this individually and depending on the
// situation.
//
+ // \attention Centerline will be deprecated in the near future
+ // please use logical lanes to navigate
+ //
repeated Vector3d centerline = 3;
// Definition of the intended driving direction.
@@ -254,6 +257,8 @@ message Lane
// \note The \c #centerline_is_driving_direction is defined for \c #type
// = \c #TYPE_DRIVING .
//
+ // \attention will be deprecated
+ //
optional bool centerline_is_driving_direction = 4;
// List of IDs of all lane segments that are directly adjacent to the
@@ -383,7 +388,7 @@ message Lane
// because shapes of interesections are very different from typical roads and
// the surfaceline concept should incorporate that
repeated SurfaceLine surfaceline = 13;
-
+
// Definition of available lane types.
//
enum Type
@@ -718,6 +723,12 @@ message Lane
// \attention If more than one surfaceline exists, they are not allowed to cross each other
// or the lane boundaries, otherwise you could have conflicting height information at these points.
//
+ // \proposal In order to model curb stones, one surfaceline will be placed at the lower edge
+ // of the curb that belongs to the border lane/driving lane and another one on the upper edge
+ // that will belong to the sidewalk
+ // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608)
+ //
+ //
message SurfaceLine
{
// The ID of the surfaceline.
@@ -753,6 +764,9 @@ message Lane
// Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2
// and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in
// image \ref Surfacelines .
+ //
+ // \note Centerline should be deprecated in the near future in favor of
+ // the logical lanes for driving and navigation purposes
//
optional bool surfaceline_is_centerline = 3;
@@ -762,11 +776,6 @@ message Lane
// \note If there is no surfaceline to the left, this will mean its located at the
// left LaneBoundary.
//
- // \proposal In order to model curb stones, one surfaceline will be placed at the lower edge
- // of the curb that belongs to the border lane/driving lane and another one on the upper edge
- // that will belong to the sidewalk
- // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608)
- //
optional Identifier left_surfaceline_id = 4;
// ID of the surfaceline that is next right to the surfaceline
@@ -777,13 +786,17 @@ message Lane
//
optional Identifier right_surfaceline_id = 5;
- // \note If this surfaceline is located at the left LaneBoundary
- // we can double check with an empty left_surfaceline_id
+ // One surfaceline should be located at the left LaneBoundary which
+ // enables us to just use the surfaceline for the height representation
+ // of lanes without the need to also interprete the LaneBoundary values.
+ // Can be double checked with an empty left_surfaceline_id
//
optional bool is_at_left_lane_boundary = 6;
- // \note If this surfaceline is located at the right LaneBoundary
- // we can double check with an empty right_surfaceline_id
+ // One surfaceline should be located at the right LaneBoundary which
+ // enables us to just use the surfaceline for the height representation
+ // of lanes without the need to also interprete the LaneBoundary values.
+ // Can be double checked with an empty right_surfaceline_id
//
optional bool is_at_right_lane_boundary = 7;
From 5b1bd5259a7b3cd7f101cc2c3c0a13a84cec85a6 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Mon, 14 Mar 2022 11:27:13 +0100
Subject: [PATCH 06/14] Delete osi_surfaceline.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Deleted obsolete osi_surfaceline.proto since it has been incorporated into osi_lane.proto
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_surfaceline.proto | 123 ------------------------------------------
1 file changed, 123 deletions(-)
delete mode 100644 osi_surfaceline.proto
diff --git a/osi_surfaceline.proto b/osi_surfaceline.proto
deleted file mode 100644
index c70956c72..000000000
--- a/osi_surfaceline.proto
+++ /dev/null
@@ -1,123 +0,0 @@
-syntax = "proto2";
-
-option optimize_for = SPEED;
-
-import "osi_common.proto";
-import "osi_lane.proto";
-
-package osi3;
-
-// A lane's surfaceline (as a list of segments).
-//
-// \brief Surfacelines describe the height profile along the lane
-// Multiple surfacelines can be used to create a certain road shape if needed
-
-// The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary.
-// \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px
-//
-// \note
-// sl: surfaceline
-// lb: lane boundary
-//
-// \image html strassenquerschnitt_surfacelines.png "Lane shape surfacelines" width=500px
-//
-// \attention The points of all surfacelines must be set in the
-// same ordering (ascending or descending) as the points describing the
-// lane boundaries or lane. Example: If the points are deducted from
-// a map format, the order of points is recommended to be in line with the
-// road coordinate (e.g. s-coordinate in OpenDRIVE).
-//
-// \attention The points describing the surfaceline might be set at
-// arbitrary distances. This allowes to model certain height changes along the
-// lane like speed bumps etc. more detailed while still allow very few points
-// at parts of the lane where height does not change much.
-//
-// \note The surfaceline is the line that describes the height profile
-// along the lane.
-//
-// \attention If more than one surfaceline exists, they are not allowed to cross each other
-// or the lane boundaries, otherwise you could have conflicting height information at these points.
-//
-message SurfaceLine
-{
- // The ID of the surfaceline.
- // Example: sl1 (see \ref Surfacelines).
- //
- // \note Note ID is global unique.
- //
- // \rules
- // is_globally_unique
- // \endrules
- //
- optional Identifier id = 1;
-
- // points making up the surfaceline
- //
- // If the surfaceline approximates a curve (e.g. a cubic function in
- // OpenDRIVE), the points must be chosen in a way that the lateral distance
- // to the ideal line does not exceed 5cm. As shown in the following image:
- //
- // \image html line_approximation_error.svg "Approximation error"
- // Approximation error green line.
- //
- // The Z error (difference in Z height between surfaceline and the "real"
- // line) must not exceed 2cm, since height gaps are more noticable.
- //
- repeated SurfaceLinePoint surfaceline = 2;
-
- // Definition of the placement of the newly introduced surfaceline in the center of the lane.
- //
- // Defined and used for driving lanes.
- // \c true means that the surfaceline is also the centerline of the lane.
- //
- // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2
- // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in
- // image \ref Surfacelines .
- //
- // \note The \c osi3::Lane::Classification::#centerline is defined only for
- // \c osi3::Lane::Classification::#type =
- // \c osi3::Lane::Classification::Type::#TYPE_DRIVING and if exactly one or no
- // \c osi3::Lane::Classification::#lane_pairing pair exists.
- //
- optional bool surfaceline_is_centerline = 3;
-
- // ID of the surfaceline that is next left to the surfaceline
- // (w.r.t. ascending order of surfaceline points).
- //
- // \note If there is no surfaceline to the left, this will mean its located at the
- // left LaneBoundary.
- //
- // \proposal In order to model curb stones, one surfaceline will be placed at the lower edge
- // of the curb that belongs to the border lane/driving lane and another one on the upper edge
- // that will belong to the sidewalk
- // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608)
- //
- optional Identifier left_surfaceline_id = 4;
-
- // ID of the surfaceline that is next right to the surfaceline
- // (w.r.t. ascending order of surfaceline points)
- //
- // \note If there is no surfaceline to the right, this will mean its located at the
- // right LaneBoundary
- //
- optional Identifier right_surfaceline_id = 5;
-
- // \note If this surfaceline is located at the left LaneBoundary
- // we can double check with an empty left_surfaceline_id
- //
- optional bool is_at_left_lane_boundary = 6;
-
- // \note If this surfaceline is located at the right LaneBoundary
- // we can double check with an empty right_surfaceline_id
- //
- optional bool is_at_right_lane_boundary = 7;
-
- // \brief Definition of the points that make up a surfaceline
- //
- message SurfaceLinePoint {
-
- // The position of the \c SurfaceLinePoint.
- //
- optional Vector3d position = 1;
- }
-}
From 09852ac6118c700da9a2e07793d9ec3aa5ec08c0 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Mon, 14 Mar 2022 11:30:25 +0100
Subject: [PATCH 07/14] Update osi_lane.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Adjusted description for surfacelines not defined in TYPE_INTERSECTION
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_lane.proto | 4 ++--
1 file changed, 2 insertions(+), 2 deletions(-)
diff --git a/osi_lane.proto b/osi_lane.proto
index b1f93501a..4b07ef8e1 100644
--- a/osi_lane.proto
+++ b/osi_lane.proto
@@ -385,8 +385,8 @@ message Lane
//
// This surfacelines decribe the height or road shape profile along the lane.
// It is currently undefined in lanes of \c #Type = \c #TYPE_INTERSECTION
- // because shapes of interesections are very different from typical roads and
- // the surfaceline concept should incorporate that
+ // because shapes of intersections are very different from typical roads and
+ // the surfacelines have to be adapted to that in the future
repeated SurfaceLine surfaceline = 13;
// Definition of available lane types.
From 13072e53eaf0f408662a2ab88f8235a980f795ff Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Mon, 21 Mar 2022 11:33:42 +0100
Subject: [PATCH 08/14] Update osi_lane.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Changed variables of is_at_left_lane_boundary/is_at_right_lane_boundary, since a surfaceline can only describe any one LaneBoundary, regardless wether it is located left or right of that Lane.
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_lane.proto | 37 +++++++++++++++++--------------------
1 file changed, 17 insertions(+), 20 deletions(-)
diff --git a/osi_lane.proto b/osi_lane.proto
index 4b07ef8e1..b498f83c6 100644
--- a/osi_lane.proto
+++ b/osi_lane.proto
@@ -732,7 +732,7 @@ message Lane
message SurfaceLine
{
// The ID of the surfaceline.
- // Example: sl1 (see \ref Surfacelines).
+ // Example: sl 3 (see \ref Surfacelines).
//
// \note Note ID is global unique.
//
@@ -744,15 +744,21 @@ message Lane
// points making up the surfaceline
//
- // If the surfaceline approximates a curve (e.g. a cubic function in
- // OpenDRIVE), the points must be chosen in a way that the lateral distance
- // to the ideal line does not exceed 5cm. As shown in the following image:
+ // If the surfaceline approximates a height curve, the points must be chosen
+ // in a way that the lateral distance to the ideal line does not exceed 2cm.
+ // As shown in the following image:
//
// \image html line_approximation_error.svg "Approximation error"
// Approximation error green line.
//
- // The Z error (difference in Z height between surfaceline and the "real"
- // line) must not exceed 2cm, since height gaps are more noticable.
+ // This only applies to the approximation in height in comparison to the
+ // surrounding flat surface plane.
+ //
+ // The "first" point of a surfaceline does not necessarily have to be at the
+ // start of the lane it describes if the height does not change along its course.
+ // For the two surfaceline at the LaneBoundary it does make sense to start
+ // at the very beginning of that LaneBoundary in order to be able to describe the
+ // height plane of that Lane accordingly.
//
repeated SurfaceLinePoint surfaceline = 2;
@@ -761,8 +767,8 @@ message Lane
// Defined and used for driving lanes.
// \c true means that the surfaceline is also the centerline of the lane.
//
- // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl2
- // and \c #surfaceline_is_centerline = \c false for surfacelane sl1 in
+ // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl3
+ // and \c #surfaceline_is_centerline = \c false for surfacelane sl6 in
// image \ref Surfacelines .
//
// \note Centerline should be deprecated in the near future in favor of
@@ -786,20 +792,12 @@ message Lane
//
optional Identifier right_surfaceline_id = 5;
- // One surfaceline should be located at the left LaneBoundary which
- // enables us to just use the surfaceline for the height representation
- // of lanes without the need to also interprete the LaneBoundary values.
- // Can be double checked with an empty left_surfaceline_id
- //
- optional bool is_at_left_lane_boundary = 6;
-
- // One surfaceline should be located at the right LaneBoundary which
+ // One surfaceline should be located at each LaneBoundary which
// enables us to just use the surfaceline for the height representation
// of lanes without the need to also interprete the LaneBoundary values.
- // Can be double checked with an empty right_surfaceline_id
//
- optional bool is_at_right_lane_boundary = 7;
-
+ optional bool is_at_lane_boundary = 6;
+
// \brief Definition of the points that make up a surfaceline
//
message SurfaceLinePoint {
@@ -1236,4 +1234,3 @@ message LaneBoundary
}
}
}
-
From 3510036c4f68b0033b36a37bf1ef2c771308f6fc Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Mon, 21 Mar 2022 11:36:15 +0100
Subject: [PATCH 09/14] Delete OSI_LaneBoundaries_And_SurfaceLines.svg
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Will upload updated version
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
.../OSI_LaneBoundaries_And_SurfaceLines.svg | 1171 -----------------
1 file changed, 1171 deletions(-)
delete mode 100644 doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
diff --git a/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
deleted file mode 100644
index 34a29fc29..000000000
--- a/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
+++ /dev/null
@@ -1,1171 +0,0 @@
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-<svg
- height="570"
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- width="1920"
- id="svg2228"
- sodipodi:docname="OSI_LaneBoundaries_And_SurfaceLines.svg"
- inkscape:version="1.1 (c68e22c387, 2021-05-23)"
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From 316c10b8e7cead841909c16f538a43492ea92e86 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Mon, 21 Mar 2022 11:36:55 +0100
Subject: [PATCH 10/14] Updated version of surfaceline examples
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
.../OSI_LaneBoundaries_And_SurfaceLines.svg | 1323 +++++++++++++++++
1 file changed, 1323 insertions(+)
create mode 100644 doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
diff --git a/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
new file mode 100644
index 000000000..45ea583a5
--- /dev/null
+++ b/doc/images/OSI_LaneBoundaries_And_SurfaceLines.svg
@@ -0,0 +1,1323 @@
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From 1d4133f10f890e8c33c7432e76fdda4e5a5d6f4c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Mon, 28 Mar 2022 12:11:32 +0200
Subject: [PATCH 11/14] Update osi_lane.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Moved surfaceline_is_centerline outside of Surfaceline message to directly access it from Lane.
Also fixed typos and descriptions.
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_lane.proto | 68 ++++++++++++++++++++++----------------------------
1 file changed, 30 insertions(+), 38 deletions(-)
diff --git a/osi_lane.proto b/osi_lane.proto
index b498f83c6..ee17cb4ab 100644
--- a/osi_lane.proto
+++ b/osi_lane.proto
@@ -383,12 +383,25 @@ message Lane
// The list of surfacelines of the lanes.
//
- // This surfacelines decribe the height or road shape profile along the lane.
+ // These surfacelines describe the height shape profile along the lane.
// It is currently undefined in lanes of \c #Type = \c #TYPE_INTERSECTION
// because shapes of intersections are very different from typical roads and
- // the surfacelines have to be adapted to that in the future
+ // the surfacelines have to be adapted to that in the future.
repeated SurfaceLine surfaceline = 13;
+ // Id of a surfaceline that is also located in the center of the lane.
+ // Defined and used currently only for driving lanes.
+ //
+ // Example: \c #center_surfaceline_id = \c s13 for surfaceline sl3
+ // in image \ref Surfacelines . Will be empty if no surfaceline is placed
+ // at the center of that lane.
+ //
+ // \note Centerline should be deprecated in the near future in favor of
+ // the logical lanes for driving and navigation purposes
+ //
+ optional Identifier center_surfaceline_id = 14;
+
+
// Definition of available lane types.
//
enum Type
@@ -694,8 +707,8 @@ message Lane
// A lane's surfaceline (as a list of segments).
//
- // \brief Surfacelines describe the height profile along the lane
- // Multiple surfacelines can be used to create a certain road shape if needed
+ // \brief Surfacelines describe the height profile along the lane.
+ // Multiple surfacelines can be used to create a certain road shape if needed.
// The surfaceline describes a height profile along the lane on or at a certain offset to the lane boundary.
// \image html OSI_LaneBoundaries_And_SurfaceLines.svg "Surfacelines" width=500px
@@ -717,16 +730,13 @@ message Lane
// lane like speed bumps etc. more detailed while still allow very few points
// at parts of the lane where height does not change much.
//
- // \note The surfaceline is the line that describes the height profile
- // along the lane.
- //
// \attention If more than one surfaceline exists, they are not allowed to cross each other
// or the lane boundaries, otherwise you could have conflicting height information at these points.
//
// \proposal In order to model curb stones, one surfaceline will be placed at the lower edge
// of the curb that belongs to the border lane/driving lane and another one on the upper edge
// that will belong to the sidewalk
- // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608)
+ // (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608).
//
//
message SurfaceLine
@@ -742,63 +752,45 @@ message Lane
//
optional Identifier surfaceline_id = 1;
- // points making up the surfaceline
+ // Points forming the surfaceline.
//
- // If the surfaceline approximates a height curve, the points must be chosen
- // in a way that the lateral distance to the ideal line does not exceed 2cm.
- // As shown in the following image:
+ // The points must be chosen in a way that the error in vertical direction
+ // (for example to an ideal line) does not exceed 2cm, as shown in the following image:
//
// \image html line_approximation_error.svg "Approximation error"
// Approximation error green line.
//
- // This only applies to the approximation in height in comparison to the
- // surrounding flat surface plane.
- //
// The "first" point of a surfaceline does not necessarily have to be at the
// start of the lane it describes if the height does not change along its course.
- // For the two surfaceline at the LaneBoundary it does make sense to start
- // at the very beginning of that LaneBoundary in order to be able to describe the
- // height plane of that Lane accordingly.
+ // The two surfacelines at the LaneBoundary usually start at the very beginning of
+ // that LaneBoundary in order to be able to describe the height plane of that Lane accordingly.
//
repeated SurfaceLinePoint surfaceline = 2;
- // Definition of the placement of the newly introduced surfaceline in the center of the lane.
- //
- // Defined and used for driving lanes.
- // \c true means that the surfaceline is also the centerline of the lane.
- //
- // Example: \c #surfaceline_is_centerline = \c true for surfaceline sl3
- // and \c #surfaceline_is_centerline = \c false for surfacelane sl6 in
- // image \ref Surfacelines .
- //
- // \note Centerline should be deprecated in the near future in favor of
- // the logical lanes for driving and navigation purposes
- //
- optional bool surfaceline_is_centerline = 3;
-
+
// ID of the surfaceline that is next left to the surfaceline
// (w.r.t. ascending order of surfaceline points).
//
// \note If there is no surfaceline to the left, this will mean its located at the
// left LaneBoundary.
//
- optional Identifier left_surfaceline_id = 4;
+ optional Identifier left_surfaceline_id = 3;
// ID of the surfaceline that is next right to the surfaceline
- // (w.r.t. ascending order of surfaceline points)
+ // (w.r.t. ascending order of surfaceline points).
//
// \note If there is no surfaceline to the right, this will mean its located at the
- // right LaneBoundary
+ // right LaneBoundary.
//
- optional Identifier right_surfaceline_id = 5;
+ optional Identifier right_surfaceline_id = 4;
// One surfaceline should be located at each LaneBoundary which
// enables us to just use the surfaceline for the height representation
// of lanes without the need to also interprete the LaneBoundary values.
//
- optional bool is_at_lane_boundary = 6;
+ optional bool is_at_lane_boundary = 5;
- // \brief Definition of the points that make up a surfaceline
+ // \brief Definition of the points that make up a surfaceline.
//
message SurfaceLinePoint {
From 4cded4a5cff78c7482843cbb90b2e6a72712893c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Tue, 29 Mar 2022 09:23:30 +0200
Subject: [PATCH 12/14] Update osi_lane.proto
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Changed explanation of center_surfaceline_id
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
osi_lane.proto | 8 ++------
1 file changed, 2 insertions(+), 6 deletions(-)
diff --git a/osi_lane.proto b/osi_lane.proto
index ee17cb4ab..36b0263b7 100644
--- a/osi_lane.proto
+++ b/osi_lane.proto
@@ -390,14 +390,11 @@ message Lane
repeated SurfaceLine surfaceline = 13;
// Id of a surfaceline that is also located in the center of the lane.
- // Defined and used currently only for driving lanes.
+ // This is not limited to driving lanes only as the (soon to be deprecated) \c #centerline.
//
// Example: \c #center_surfaceline_id = \c s13 for surfaceline sl3
// in image \ref Surfacelines . Will be empty if no surfaceline is placed
// at the center of that lane.
- //
- // \note Centerline should be deprecated in the near future in favor of
- // the logical lanes for driving and navigation purposes
//
optional Identifier center_surfaceline_id = 14;
@@ -735,10 +732,9 @@ message Lane
//
// \proposal In order to model curb stones, one surfaceline will be placed at the lower edge
// of the curb that belongs to the border lane/driving lane and another one on the upper edge
- // that will belong to the sidewalk
+ // that will belong to the sidewalk
// (see https://github.com/OpenSimulationInterface/open-simulation-interface/pull/608).
//
- //
message SurfaceLine
{
// The ID of the surfaceline.
From bd779dc1a46da74a98aab655730f8a883793d0e1 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Tue, 29 Mar 2022 10:58:09 +0200
Subject: [PATCH 13/14] Delete strassenquerschnitt_surfacelines.png
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
.../strassenquerschnitt_surfacelines.png | Bin 105352 -> 0 bytes
1 file changed, 0 insertions(+), 0 deletions(-)
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From 57c4854c9877f79e3d9c041e8f683cfbff140613 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Arne=20D=C3=BCselder?=
<60253650+arnedueselder@users.noreply.github.com>
Date: Tue, 29 Mar 2022 10:59:06 +0200
Subject: [PATCH 14/14] Adjusted strassenquerschnitt_surfacelines
MIME-Version: 1.0
Content-Type: text/plain; charset=UTF-8
Content-Transfer-Encoding: 8bit
Added surfacelines at lane boundaries in picture
Signed-off-by: Arne Düselder <60253650+arnedueselder@users.noreply.github.com>
---
doc/images/strassenquerschnitt_surfacelines.png | Bin 0 -> 99386 bytes
1 file changed, 0 insertions(+), 0 deletions(-)
create mode 100644 doc/images/strassenquerschnitt_surfacelines.png
diff --git a/doc/images/strassenquerschnitt_surfacelines.png b/doc/images/strassenquerschnitt_surfacelines.png
new file mode 100644
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