Feature/tp/add polyline model #484

.antora/antora.yml

@@ -3,6 +3,7 @@ name: asamosi
 version:
   # Update version number accordingly. This is the version for the main branch
   main: 'current'
+  master: 'current'
   v(*)-antora: V$1
   v(*): V$1
   V(*): V$1

.github/workflows/antora-generator.yml

@@ -0,0 +1,24 @@
+
+name: Antora build trigger
+
+on:
+  push:
+    branches: [ master ]
+  pull_request:
+    branches: [ master ]
+
+jobs:
+  trigger_antora:
+    name: Trigger antora generator
+
+    runs-on: Ubuntu-latest
+
+    steps:
+    - name: Trigger generator
+      uses: peter-evans/repository-dispatch@v2
+      with:
+        token: ${{ secrets.MACHINE_USER_PAT }}
+        event-type: antora-build-trigger
+        repository: OpenSimulationInterface/osi-antora-generator
+        client-payload: '{"src": "${{ github.repository }}", "ref": "${{ github.ref }}", "sha": "${{ github.sha }}"}'
+

.github/workflows/protobuf.yml

@@ -9,7 +9,7 @@ jobs:
   build-proto2-linux64:
     name: Build Proto2 Linux 64
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-22.04
 
     steps:
     - name: Checkout OSI
@@ -30,10 +30,10 @@ jobs:
 
     - name: Cache Dependencies
       id: cache-depends
-      uses: actions/cache@v2
+      uses: actions/cache@v3
       with:
         path: protobuf-3.20.1
-        key: ${{ runner.os }}-v1-depends
+        key: ${{ runner.os }}-v2-depends
 
     - name: Download ProtoBuf
       if: steps.cache-depends.outputs.cache-hit != 'true'
@@ -100,7 +100,7 @@ jobs:
   build-proto3-linux64:
     name: Build Proto3 Linux 64
 
-    runs-on: ubuntu-18.04
+    runs-on: ubuntu-22.04
 
     steps:
     - name: Checkout OSI
@@ -121,7 +121,7 @@ jobs:
       uses: actions/cache@v2
       with:
         path: protobuf-3.20.1
-        key: ${{ runner.os }}-v1-depends
+        key: ${{ runner.os }}-v2-depends
 
     - name: Download ProtoBuf
       if: steps.cache-depends.outputs.cache-hit != 'true'

osi_detectedlane.proto

@@ -109,6 +109,21 @@ message DetectedLaneBoundary
     //
     optional ColorDescription color_description = 6;
 
+    // The boundary line can be expressed as a polyline of nth order.
+    //
+    repeated BoundaryPolyLineModel boundary_poly_line_model = 7;
+
+    // The range until where the lane boundary is detected.
+    // 
+    // Unit: m
+    //
+    // \rules
+    // is_greater_than_or_equal_to: 0
+    // is_less_than_or_equal_to: 1000
+    // \endrules
+    //
+    optional double view_range = 8;
+
     //
     // \brief A candidate for a detected lane boundary as estimated by the
     // sensor.
@@ -135,4 +150,39 @@ message DetectedLaneBoundary
         //
         optional LaneBoundary.Classification classification = 2;
     }
+
+    //
+    // \brief The lane boundary as polyline model up to third order.
+    //
+    message BoundaryPolyLineModel
+    {
+
+        // P0 parameter of the poly function model that describes the lane boundary.
+        //
+        // Unit: m
+        //
+        optional double polyline_parameter_p0 = 1;
+
+        // P1 parameter of the poly function model that describes the lane boundary.
+        //
+        // Unit: 1
+        //
+        optional double polyline_parameter_p1 = 2;
+
+        // P2 parameter of the poly function model that describes the lane boundary.
+        //
+        // Unit: 1/m
+        //
+        optional double polyline_parameter_p2 = 3;
+
+        // P3 parameter of the poly function model that describes the lane boundary.
+        //
+        // Unit: 1/m2
+        //
+        optional double polyline_parameter_p3 = 4;
+
+        // The measured width within the detected range.
+        //
+        optional double polyline_width = 5;
+    }
 }