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Move sensor specifics to DetectedItemHeader #708

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Move sensor specifics to DetectedItemHeader #708

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56 changes: 28 additions & 28 deletions osi_detectedobject.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -63,6 +63,34 @@ message DetectedItemHeader
//
repeated Identifier sensor_id = 6;

// Additional data that is specific to radar sensors.
//
// \note Field needs not to be set if simulated sensor is not a radar
// sensor.
//
optional RadarSpecificObjectData radar_specifics = 100;

// Additional data that is specific to lidar sensors.
//
// \note Field needs not to be set if simulated sensor is not a lidar
// sensor.
//
optional LidarSpecificObjectData lidar_specifics = 101;

// Additional data that is specific to camera sensors.
//
// \note Field needs not to be set if simulated sensor is not a camera
// sensor.
//
optional CameraSpecificObjectData camera_specifics = 102;

// Additional data that is specific to ultrasonic sensors.
//
// \note Field needs not to be set if simulated sensor is not an ultrasonic
// sensor.
//
optional UltrasonicSpecificObjectData ultrasonic_specifics = 103;

// Definition of measurement states.
//
enum MeasurementState
Expand Down Expand Up @@ -221,34 +249,6 @@ message DetectedMovingObject
//
optional ColorDescription color_description = 9;

// Additional data that is specific to radar sensors.
//
// \note Field needs not to be set if simulated sensor is not a radar
// sensor.
//
optional RadarSpecificObjectData radar_specifics = 100;

// Additional data that is specific to lidar sensors.
//
// \note Field needs not to be set if simulated sensor is not a lidar
// sensor.
//
optional LidarSpecificObjectData lidar_specifics = 101;

// Additional data that is specific to camera sensors.
//
// \note Field needs not to be set if simulated sensor is not a camera
// sensor.
//
optional CameraSpecificObjectData camera_specifics = 102;

// Additional data that is specific to ultrasonic sensors.
//
// \note Field needs not to be set if simulated sensor is not an ultrasonic
// sensor.
//
optional UltrasonicSpecificObjectData ultrasonic_specifics = 103;

//
// \brief A candidate for a detected moving object as estimated by the
// sensor.
Expand Down