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feat[code]: extend StatePoint #749

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feat[code]: extend StatePoint #749

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45 changes: 45 additions & 0 deletions osi_common.proto
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Original file line number Diff line number Diff line change
Expand Up @@ -600,6 +600,51 @@ message StatePoint
// Orientation in the global coordinate system.
//
optional Orientation3d orientation = 3;

// Absolute velocity.
//
// \c #position \f$ (t) := \f$ \c #position \f$ (t-dt)+ \f$ \c #velocity \f$
// *dt \f$
//
optional Vector3d velocity = 4;

// Absolute acceleration.
//
// \c #position \f$ (t) := \f$ \c #position \f$ (t-dt)+ \f$ \c #velocity \f$
// *dt+ \f$ \c #acceleration \f$ /2*dt^2\f$
//
// \c #velocity \f$ (t) := \f$ \c #velocity \f$ (t-dt)+ \f$ \c #acceleration
// \f$ *dt \f$
//
optional Vector3d acceleration = 5;

// Absolute orientation rate.
//
// \c #orientation \f$ .yaw(t) := \f$ \c #orientation_rate \f$ .yaw(t) * dt
// + \f$ \c #orientation \f$ .yaw(t-dt) \f$
//
// \c #orientation \f$ .pitch(t) := \f$ \c #orientation_rate \f$ .pitch(t) *
// dt + \f$ \c #orientation \f$ .pitch(t-dt) \f$
//
// \c #orientation \f$ .roll(t) := \f$ \c #orientation_rate \f$ .roll(t) *
// dt + \f$ \c #orientation \f$ .roll(t-dt)\f$
//
optional Orientation3d orientation_rate = 6;

// Absolute orientation acceleration.
//
// \c #orientation_rate \f$ .yaw(t) := \f$ \c #orientation_acceleration \f$
// .yaw(t) * dt + \f$ \c #orientation_rate \f$ .yaw(t-dt) \f$
//
// \c #orientation_rate \f$ .pitch(t) := \f$ \c #orientation_acceleration
// \f$ .pitch(t) * dt
// + \f$ \c #orientation_rate \f$ .pitch(t-dt) \f$
//
// \c #orientation_rate \f$ .roll(t) := \f$ \c #orientation_acceleration \f$
// .roll(t) * dt +
// \f$ \c #orientation_rate \f$ .roll(t-dt) \f$
//
optional Orientation3d orientation_acceleration = 7;
}

//
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