3.2.9 Ground truth initialization parameters
All models can optionally consume osi3::GroundTruth
via an initialization parameter called OSMPGroundTruthInit
.
Its purpose is to provide the model with information in OSI format that does not change throughout the simulation, i.e. is considered static.
This can encompass, for example, the road network or referenced 3D models.
OSMPGroundTruthInit
contains only data encountered by the model that does not change during a simulation run.
All data provided in this message can be assumed by the receiver to be static during the simulation run.
If the model is instantiated multiple times, all instantiations should receive the exact same content. This allows a model to do expensive map calculations or loading 3D assets only once during initialization, and to share the calculated data between multiple instantiations.
Prefix
Ground truth initialization parameters shall be named with the following prefix:
OSMPGroundTruthInit
Rules
-
If a model needs ground truth during initialization, it shall have a parameter named
OSMPGroundTruthInit
. -
OSMPGroundTruthInit
shall be defined as a notional discrete binary input parameter variable, with@causality="parameter"
,@variability="fixed"
and@initial="exact"
. -
The MIME type of the variable shall specify the
type=GroundTruth
as part of the MIME type parameters. -
OSMPGroundTruthInit
shall be encoded asosi3::GroundTruth
. -
OSMPGroundTruthInit
shall contain only data encountered by the model that does not change during a simulation run. -
The IDs of objects in
OSMPGroundTruthInit
shall be identical to the IDs of the same objects contained in laterOSMPSensorViewIn
or other input data. -
If the model is instantiated multiple times, then all instantiations should receive the exact same content stored in the
OSMPGroundTruthInit
parameter. -
The guaranteed lifetime of the ground-truth protocol-buffer pointer provided as input to the FMU shall be from the time of the call to
fmi2SetInteger
that provides those values until the end of the followingfmi2ExitInitializationMode
call.