osi3::MovingObject Struct Reference

Definition of object types.

The ID of the object.

Rules

is_globally_unique

is_set

The base parameters of the vehicle.

The parent frame of MovingObject::base is the global coordinate system.

Note

The bounding box does NOT include side mirrors for vehicles.

The height includes the ground_clearance. It always goes from the top to the ground.

The type of the object.

The IDs of the lanes that this object is assigned to.

Note

Might be multiple if the object is switching lanes or moving from one lane into another following lane.

DEPRECATED: Use assigned_lane_id in MovingObjectClassification instead.

Specific information about the vehicle.

Note

This field is mandatory if the type is TYPE_VEHICLE .

Rules

check_if this.type is_equal_to 2 else do_check is_set

Specific information about the classification of the vehicle.

Note

This field is mandatory if the type is TYPE_VEHICLE .

Rules

check_if this.type is_equal_to 2 else do_check is_set

Opaque reference of an associated 3D model of the moving object.

Note

It is implementation-specific how model_references are resolved to 3d models.

The trajectory that this moving object expects to follow in the future.

This is not externally perceivable information, rather this is to aid realistic simulation of traffic participants that are not under test. This information should not be made available to the stack under test.

Note

Moving objects are not required to stick to this trajectory. It is indicative and equivalent to the output of a perception and prediction system.

Specific information about the classification of the vehicle.

Optional external reference to the moving-object source.

The external reference points to the source of an moving object, if it is derived from an external sources like OpenSCENARIO.

For example, to reference OpenSCENARIO entities of the type Vehicle or Pedestrian, which describe moving objects, the items should be set as follows:

• reference = URI to the OpenSCENARIO File
• type = "net.asam.openscenario"
• identifier[0] = Entity-Type ("Vehicle" or "Pedestrian")
• identifier[1] = name of Vehicle/Pedestrian in Entity

Note

For non-ASAM Standards, it is implementation-specific how source_reference is resolved.

The value has to be repeated because one object may be derived from more than one origin source, for example, from a scenario file and from sensors.

The dominating color of the material of the moving object.

Specific information about the pedestrian.

Note

This field is mandatory if the type is TYPE_PEDESTRIAN.

Rules

check_if this.type is_equal_to 3 else do_check is_set