osi_object.proto

syntax = "proto2";

option optimize_for = SPEED;

import "osi_common.proto";

package osi3;

//
// \brief A simulated object that is neither a moving object (vehicle or
// \c MovingObject e.g. pedestrian, animal, or vehicle) nor a traffic related
// object (\c TrafficLight, \c TrafficSign).
//
// \image html OSI_BaseStationary.svg
//
// \c StationaryObject excludes traffic lights, traffic signs and road marking
//
message StationaryObject
{
    // The ID of the object.
    //
    // \rules
    // is_globally_unique
    // is_set
    // \endrules
    //
    optional Identifier id = 1;

    // The base parameters of the stationary object.
    //
    optional BaseStationary base = 2;

    // The classification of the stationary object.
    //
    optional Classification classification = 3;

    // Opaque reference of an associated 3D model of the stationary object.
    //
    // \note It is implementation-specific how model_references are resolved to
    // 3d models.
    //
    optional string model_reference = 4;

    // External reference to the stationary-object source.
    //
    // The external reference points to the source of a stationary object, if it
    // is derived from an external sources like OpenDRIVE or OpenSCENARIO.
    //
    // For example, to reference an object defined in an OpenDRIVE map
    // the items should be set as follows:
    // * reference = URI to map, can remain empty if identical with definition
    //               in \c GroundTruth::map_reference
    // * type = "net.asam.opendrive"
    // * identifier[0] = "object" for t_road_objects_object and
    //                   "bridge" for t_road_objects_bridge
    // * identifier[1] = id of t_road_objects_object or t_road_objects_bridge
    //
    // For example, to reference OpenSCENARIO entities of the type MiscObject,
    // which describe partly stationary objects, the items should be set as
    // follows:
    // * reference = URI to the OpenSCENARIO File
    // * type = "net.asam.openscenario"
    // * identifier[0] = Entity-Type ("MiscObject")
    // * identifier[1] = name of MiscObject in Entity
    //
    // \note The following rule, described in OpenDRIVE, also applies:
    // * Objects derived from OpenSCENARIO shall not be mixed with objects
    //   described in OpenDRIVE.
    //
    // \note For non-ASAM Standards, it is implementation-specific how
    //       source_reference is resolved.
    //
    // \note 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.
    //
    repeated ExternalReference source_reference = 5;

    // The dominating color of the material of the structure.
    //
    optional ColorDescription color_description = 6;

    //
    // \brief Classification data for a stationary object.
    //
    message Classification
    {
        // The type of the object.
        //
        optional Type type = 1;

        // The dominating material of the structure.
        //
        optional Material material = 2;

        // The dominating density of the material of the structure.
        //
        optional Density density = 3;

        // The dominating color of the material of the structure.
        //
        // \attention DEPRECATED: This color enum will be removed in version
        // 4.0.0. Use the field \c #color_description (\c ColorDescription) of
        // \c StationaryObject instead.
        //
        optional Color color = 4;

        // The attributes of the emitting structure if stationary object is classified as such.
        //
        optional EmittingStructureAttribute emitting_structure_attribute = 5;

        // The IDs of the lanes that the object is assigned to.
        //
        // \note Might be multiple IDs if the object stretches over multiple lanes.
        //
        // \note OSI uses singular instead of plural for repeated field names.
        //
        repeated Identifier assigned_lane_id = 6;

        // Percentage values of the object width in the corresponding lane.
        //
        // \note Might be multiple percentages if the object stretches over multiple lanes.
        //
        // \note OSI uses singular instead of plural for repeated field names.
        //
        repeated double assigned_lane_percentage = 7;

        // Assignment of this object to logical lanes.
        //
        // \note OSI uses singular instead of plural for repeated field names.
        //
        repeated LogicalLaneAssignment logical_lane_assignment = 8;

        // Definition of object types.
        //
        enum Type
        {
            // Type of the object is unknown (must not be used in ground truth).
            //
            TYPE_UNKNOWN = 0;

            // Other (unspecified but known) type of object.
            //
            TYPE_OTHER = 1;

            // Object is a bridge.
            //
            TYPE_BRIDGE = 2;

            // Object is a building.
            //
            TYPE_BUILDING = 3;

            // Object is a pole (e.g. from a traffic light).
            //
            TYPE_POLE = 4;

            // Object is a pylon.
            //
            TYPE_PYLON = 5;

            // Object is a delineator (e.g. at a construction site).
            //
            TYPE_DELINEATOR = 6;

            // Object is a tree.
            //
            TYPE_TREE = 7;

            // Object is a barrier.
            //
            TYPE_BARRIER = 8;

            // Object is vegetation.
            //
            TYPE_VEGETATION = 9;

            // Object is a curbstone.
            //
            TYPE_CURBSTONE = 10;

            // Object is a wall.
            //
            TYPE_WALL = 11;

            // Landmarks corresponding to vertical structures in the
            // environment.
            //
            TYPE_VERTICAL_STRUCTURE = 12;

            // Landmarks corresponding to rectangular structures in the
            // environment, like walls.
            //
            TYPE_RECTANGULAR_STRUCTURE = 13;

            // Landmarks corresponding to overhead structures in the
            // environment, like sign bridges.
            //
            TYPE_OVERHEAD_STRUCTURE = 14;

            // Landmarks corresponding to reflective structures
            // in the environment, like reflective poles on the
            // road boarder.
            //
            TYPE_REFLECTIVE_STRUCTURE = 15;

            // Landmarks corresponding to construction site elements in the
            // environment, like beacons.
            //
            TYPE_CONSTRUCTION_SITE_ELEMENT = 16;

            // Object is a speed bump.
            //
            TYPE_SPEED_BUMP = 17;

            // Landmarks corresponding to sources of electromagnetic waves
            // in the environment, like street lights.
            //
            TYPE_EMITTING_STRUCTURE = 18;
        }

        // Definition of material types.
        //
        enum Material
        {
            // Allow aliases in enum
            //
            option allow_alias = true;

            // Type of the material is unknown (must not be used in ground
            // truth).
            //
            MATERIAL_UNKNOWN = 0;

            // Other (unspecified but known) type of material.
            //
            MATERIAL_OTHER = 1;

            // Wooden structure.
            //
            MATERIAL_WOOD = 2;

            // Plastic structure.
            //
            MATERIAL_PLASTIC = 3;

            // Concrete structure.
            //
            MATERIAL_CONCRETE = 4;

            // Metal structure.
            //
            MATERIAL_METAL = 5;

            // Natural stone structure.
            //
            MATERIAL_STONE = 6;

            // Glass structure.
            //
            MATERIAL_GLASS = 7;

            // Glass structure.
            //
            // \note Deprecated variant spelling of MATERIAL_GLASS
            //
            MATERIAL_GLAS = 7;

            // Mud structure.
            //
            MATERIAL_MUD = 8;
        }

        // Definition of material density types.
        //
        enum Density
        {
            // Type of the material density is unknown (must not be used in
            // ground truth).
            //
            DENSITY_UNKNOWN = 0;

            // Other (unspecified but known) type of material density.
            //
            DENSITY_OTHER = 1;

            // No perforation - solid;
            //
            DENSITY_SOLID = 2;

            // Perforation max. ]0; 100] mm
            //
            DENSITY_SMALL_MESH = 3;

            // Perforation max. ]100; 500] mm
            //
            DENSITY_MEDIAN_MESH = 4;

            // Perforation max. ]500; 5000] mm
            //
            DENSITY_LARGE_MESH = 5;

            // Perforation max. ]5000; infinity[ mm
            //
            DENSITY_OPEN = 6;
        }

        // Definition of colors for structures.
        //
        // \attention DEPRECATED: This color enum will be removed in version
        // 4.0.0. Use \c ColorDescription instead.
        //
        //
        enum Color
        {
            // Allow aliases in enum
            //
            option allow_alias = true;

            // Color is unknown (must not be used in ground truth).
            //
            COLOR_UNKNOWN = 0;

            // Other (unspecified but known) color.
            //
            COLOR_OTHER = 1;

            // Yellow.
            //
            COLOR_YELLOW = 2;

            // Green.
            //
            COLOR_GREEN = 3;

            // Blue.
            //
            COLOR_BLUE = 4;

            // Violet.
            //
            COLOR_VIOLET = 5;

            // Red.
            //
            COLOR_RED = 6;

            // Orange.
            //
            COLOR_ORANGE = 7;

            // Black.
            //
            COLOR_BLACK = 8;

            // GRAY.
            //
            COLOR_GRAY = 9;

            // GRAY.
            //
            // \note Deprecated variant spelling of COLOR_GRAY
            //
            COLOR_GREY = 9;

            // White.
            //
            COLOR_WHITE = 10;
        }

        //
        // \brief Attributes of type emitting structure. The horizontal_angle and the vertical_angle in
        // emitted_spatial_intensity are symmetrical across the normal, which is defined by the mounting position
        // of the emitting structure.
        //
        message EmittingStructureAttribute
        {
            // This message determines the range of the emitted wavelength and its
            // desired number of samples.
            //
            repeated WavelengthData wavelength_data = 1;

            // Spatial signal strength distribution of the emitted electromagnetic wave.
            // For every sample in wavelength_data an emitted_spatial_signal_strength has to be defined.
            //
            // \note emitted_spatial_signal_strength.size() = WavelengthData.samples_number.size()
            //
            repeated SpatialSignalStrength emitted_spatial_signal_strength = 3;
        }
    }
}

//
// \brief A simulated object that is either a vehicle or another
// moving object (animal, pedestrian, etc), but not a stationary
// object (\c TrafficLight, \c TrafficSign, or \c StationaryObject).
//
// \image html OSI_MovingObject.svg
//
// \image html OSI_HostVehicle.svg
//
// \note The fields \c MovingObject::vehicle_attributes and \c
// MovingObject::vehicle_classification have to be filled if the \c
// MovingObject::Type is set to #TYPE_VEHICLE.
//
message MovingObject
{
    // The ID of the object.
    //
    // \rules
    // is_globally_unique
    // is_set
    // \endrules
    //
    optional Identifier id = 1;

    // The base parameters of the vehicle.
    //
    // \note The bounding box does NOT include side mirrors for vehicles.
    // \note The height includes the ground_clearance. It always goes from the
    // top to the ground.
    //
    optional BaseMoving base = 2;

    // Definition of object types.
    //
    enum Type
    {
        // Type of the object is unknown (must not be used in ground truth).
        //
        TYPE_UNKNOWN = 0;

        // Other (unspecified but known) type of moving object.
        //
        TYPE_OTHER = 1;

        // Object is a vehicle.
        //
        TYPE_VEHICLE = 2;

        // Object is a pedestrian.
        //
        TYPE_PEDESTRIAN = 3;

        // Object is an animal.
        //
        TYPE_ANIMAL = 4;
    }

    // The type of the object.
    //
    optional Type type = 3;

    // 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.
    //
    // \note DEPRECATED: Use assigned_lane_id in MovingObjectClassification
    // instead.
    //
    repeated Identifier assigned_lane_id = 4;

    // Specific information about the vehicle.
    //
    // \note This field is mandatory if the \c #type is
    // #TYPE_VEHICLE .
    //
    // \rules
    // check_if this.type is_equal_to 2 else do_check is_set
    // \endrules
    //
    optional VehicleAttributes vehicle_attributes = 5;

    // Specific information about the classification of the vehicle.
    //
    //
    // \note This field is mandatory if the \c #type is
    // #TYPE_VEHICLE .
    //
    // \rules
    // check_if this.type is_equal_to 2 else do_check is_set
    // \endrules
    //
    optional VehicleClassification vehicle_classification = 6;

    // Opaque reference of an associated 3D model of the moving object.
    //
    // \note It is implementation-specific how model_references are resolved to
    // 3d models.
    //
    optional string model_reference = 7;

    // 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.
    //
    repeated StatePoint future_trajectory = 8;

    // Specific information about the classification of the vehicle.
    //
    optional MovingObjectClassification moving_object_classification = 9;

    // 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.
    //
    // \note 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.
    //
    repeated ExternalReference source_reference = 10;

    // The dominating color of the material of the moving object.
    //
    optional ColorDescription color_description = 11;

    // Specific information about the pedestrian.
    //
    // \note This field is mandatory if the \c #type is
    // #TYPE_PEDESTRIAN.
    //
    // \rules
    // check_if this.type is_equal_to 3 else do_check is_set
    // \endrules
    //
    optional PedestrianAttributes pedestrian_attributes = 12;

    //
    // \brief The vehicle attributes for \c MovingObject (host or other).
    //
    // This is an extension to the \c MovingObject with additional attributes,
    // such as type and lights. The origin of the rear (front) axis coordinate
    // system in global coordinates is calculated as:
    // \c MovingObject::base . \c BaseMoving::position + R * \c
    // MovingObject::VehicleAttributes::bbcenter_to_rear (front) for the host
    // vehicle (R rotates from vehicle to world frame, i.e. inverse orientation
    // of \c MovingObject::base . \c BaseMoving::orientation).
    //
    // For all vehicles, including host vehicles, the position given in
    //  \c MovingObject::base . \c BaseMoving::position points to the center of
    //  the vehicle's bounding box.
    //
    // The vehicle object coordinates are defined as x-axis is the direction
    // from rear to front of the vehicle, y-axis corresponds to rear axle and
    // z-axis points to vehicle ceiling [1]. The coordinate system is
    // right-handed. Therefore the positive y-axis points to the left of the
    // vehicle.
    //
    // \par Reference:
    // [1] DIN Deutsches Institut fuer Normung e. V. (2013). <em>DIN ISO 8855 Strassenfahrzeuge - Fahrzeugdynamik und Fahrverhalten - Begriffe</em>. (DIN ISO 8855:2013-11). Berlin, Germany.
    //
    message VehicleAttributes
    {
        // The ID of the driver of the (host) vehicle.
        //
        // \note Field need not be set if host_vehicle is set to false or use
        // value for non valid id.
        //
        optional Identifier driver_id = 1;

        // Deprecated: Will be removed in next major release. Moved to WheelData.
        // Median radius of the wheels measured from a center of the wheel
        // including tire.
        //
        // Unit: m
        //
        // \rules
        // is_greater_than_or_equal_to: 0
        // \endrules
        //
        optional double radius_wheel = 2;

        // Number of independent wheels.
        //
        // \rules
        // is_greater_than_or_equal_to: 1
        // \endrules
        //
        optional uint32 number_wheels = 3;

        // The vector pointing from the bounding box center point (\c
        // MovingObject::base . \c BaseMoving::position) to the middle (in x, y
        // and z) of the rear axle under neutral load conditions. In object
        // coordinates.
        //
        optional Vector3d bbcenter_to_rear = 4;

        // The vector pointing from the bounding box center point (\c
        // MovingObject::base . \c BaseMoving::position) to the middle (in x, y
        // and z) of the front axle under neutral load conditions. In object
        // coordinates.
        //
        optional Vector3d bbcenter_to_front = 5;

        // Static minimal distance or space from the lowest point of the vehicle's
        // body to the surface plane below it under neutral load conditions. This
        // distance disregards, for example, driving-dynamic effects or
        // road-surface effects. Can be useful to approximate the clearance area
        // under a vehicle that a sensor can see through.
        // \note \c ground_clearance is included in the bounding box height.
        //
        optional double ground_clearance = 6;

        // Description of each wheel.
        //
        // \note OSI uses singular instead of plural for repeated field names.
        //
        repeated WheelData wheel_data = 7;

        // Angle of the steering wheel.
        // Zero means the steering wheel is in its center position, a positive value
        // means the steering wheel is turned to the left and a negative value
        // means the steering wheel is turned to the right of the center position.
        //
        // Unit: rad
        //
        optional double steering_wheel_angle = 8;

        // \brief Detailed wheel data.
        // The focus is on the description of a wheel regarding the perceivable
        // information from the outside.
        // It is not intended to be used for dynamic calculations, for example.
        //
        message WheelData
        {
            // The axle which contains this wheel. A value of 0 represents the
            // front-most axle of the vehicle with higher numbers incrementing
            // towards the rear-most axle.
            //
            optional uint32 axle = 1;

            // The index of the wheel on the axle, counting in the direction
            // of positive-y, that is, right-to-left.
            //
            // For example, on a standard 2-axle, 4-wheel car, the rear-right
            // wheel would be (axle=1, index=0).
            // This concept works also for twin tires.
            //
            optional uint32 index = 2;

            // A vector pointing from the vehicle's reference system (center of bounding
            // box) to the geometric center of the wheel.
            //
            optional Vector3d position = 3;

            // Median radius of the wheel measured from the center of the wheel to
            // the outer part of the tire.
            //
            // Unit: m
            //
            optional double wheel_radius = 4;

            // Median radius of the rim measured from the center to the outer, visible part of the rim.
            //
            // Unit: m
            //
            optional double rim_radius = 5;

            // Median width of the tire.
            //
            // Unit: m
            //
            optional double width = 6;

            // Orientation of the wheel.
            //
            // The reference system is the vehicle frame (center of bounding box).
            //
            optional Orientation3d orientation = 7;

            // Rotation rate of the wheel.
            // The rotation rate around the y-axis with respect to the wheel's coordinate system.
            //
            // Unit: rad/s.
            //
            // The sign convention is defined using the right-hand rule.
            // It is applied on the y-axis of the vehicle's reference system (center of bounding box).
            // Counterclockwise is positive and clockwise is negative.
            //
            // \image html OSI_RotationRate.svg
            // \note The vehicle's reference coordinate system is only used to determine the sign convention of the rotation rate.
            //
            optional double rotation_rate = 8;

            // Opaque reference of an associated 3D model of the wheel.
            //
            // \note It is implementation-specific how model_references are resolved to
            // 3d models.
            //
            optional string model_reference = 9;

            // The value describes the kinetic friction of the tire's contact point.
            // If different friction coefficients due to more than one contact points are available,
            // this value contains the average.
            //
            // Unit: Dimensionless
            //
            // \par References:
            // [1] Britannica, T. Editors of Encyclopaedia. (2020, June 24). <em>coefficient of friction</em>. Retrieved May 18, 2022, from https://www.britannica.com/science/coefficient-of-friction
            //
            optional double friction_coefficient = 10;
        }
    }

    //
    // \brief Information for the classification of moving objects regarding
    // \c MovingObject (host or other).
    //
    message MovingObjectClassification
    {
        // 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.
        //
        // \note OSI uses singular instead of plural for repeated field names.
        //
        repeated Identifier assigned_lane_id = 1;

        // Percentage value of the object width in the corresponding lane.
        //
        // \note Might be multiple if the object is switching lanes or moving from
        // one lane into another following lane.
        //
        // \note OSI uses singular instead of plural for repeated field names.
        //
        repeated double assigned_lane_percentage = 2;

        // Assignment of this object to logical lanes.
        //
        // \note OSI uses singular instead of plural for repeated field names.
        //
        repeated LogicalLaneAssignment logical_lane_assignment = 3;
    }

    //
    // \brief Information for the classification of vehicles regarding
    // \c MovingObject (host or other).
    //
    message VehicleClassification
    {
        // Definition of vehicle types.
        //
        // \note OSI provides a richer set of vehicle types than is supported by some
        // other OpenX standards (in particular, OpenScenario 1.x and 2.x, and OpenLabel).
        // This is primarily for historical reasons.  Where a single type from a
        // different standard can map to multiple OSI types it is left up to the
        // discretion of the OSI implementer how that mapping is achieved. In previous
        // versions, for example, a simulator might have used the dimensions of a provided
        // 3d model of a vehicle with type "car" in OpenScenario, to determine whether it
        // should be a TYPE_SMALL_CAR or TYPE_MEDIUM_CAR in OSI. As part of the harmonization
        // effort, it should now map to TYPE_CAR, which is an alias of the old TYPE_MEDIUM_CAR,
        // and all other car type enums have been deprecated in favor of TYPE_CAR.
        //
        // \note Vehicle type classification is a complex area and there are no
        // universally recognized standards.  As such, the boundaries between some of the
        // OSI vehicle types are not well-defined.  It is left to the implementer to
        // decide how to distinguish between them and agree that with any applications which
        // make use of that specific interface instance.  For example, how to distinguish
        // between a HEAVY_TRUCK and a DELIVERY_VAN, or a TRAILER and a SEMITRAILER.
        //
        enum Type
        {
            // Allow aliases in enum
            //
            option allow_alias = true;

            // Type of vehicle is unknown (must not be used in ground truth).
            //
            TYPE_UNKNOWN = 0;

            // Other (unspecified but known) type of vehicle.
            //
            TYPE_OTHER = 1;

            // Vehicle is a small car.
            //
            // Definition: Hatchback car with maximum length 4 m.
            //
            // \note Deprecated differentiation, use TYPE_CAR instead
            //
            TYPE_SMALL_CAR = 2;

            // Vehicle is a compact car.
            //
            // Definition: Hatchback car with length between 4 and 4.5 m.
            //
            // \note Deprecated differentiation, use TYPE_CAR instead
            //
            TYPE_COMPACT_CAR = 3;

            // Vehicle is a car.
            //
            // This is to be used for all car-like vehicles, without any
            // further differentiated type available.
            //
            TYPE_CAR = 4;

            // Vehicle is a medium car.
            //
            // Definition: Hatchback or sedan with length between 4.5 and 5 m.
            //
            // \note Deprecated differentiation, use the alias TYPE_CAR instead
            //
            TYPE_MEDIUM_CAR = 4;

            // Vehicle is a luxury  car.
            //
            // Definition: Sedan or coupe that is longer then 5 m.
            //
            // \note Deprecated differentiation, use TYPE_CAR instead
            //
            TYPE_LUXURY_CAR = 5;

            // Vehicle is a delivery van.
            //
            // \image html OSI_TYPE_DELIVERY_VAN.svg
            //
            TYPE_DELIVERY_VAN = 6;

            // Vehicle is a (heavy) truck.
            //
            // \image html OSI_TYPE_HEAVY_TRUCK.svg
            //
            TYPE_HEAVY_TRUCK = 7;

            // Vehicle is a tractor capable of pulling a semi-trailer.
            //
            // \image html OSI_TYPE_SEMITRACTOR.svg
            //
            TYPE_SEMITRACTOR = 16;

            // This vehicle is a semi-trailer that can be pulled by a
            // semi-tractor.
            //
            // \note The vehicle can be, but doesn't need to be,
            // attached to another vehicle.
            //
            // \image html OSI_TYPE_SEMITRAILER.svg
            //
            TYPE_SEMITRAILER = 8;

            // Vehicle is a trailer.
            //
            // \note The vehicle can be, but doesn't need to be,
            // attached to another vehicle.
            //
            // \image html OSI_TYPE_TRAILER.svg
            //
            TYPE_TRAILER = 9;

            // Vehicle is a motorbike or moped.
            //
            TYPE_MOTORBIKE = 10;

            // Vehicle is a bicycle (without motor and specific lights).
            //
            TYPE_BICYCLE = 11;

            // Vehicle is a bus.
            //
            TYPE_BUS = 12;

            // Vehicle is a tram.
            //
            TYPE_TRAM = 13;

            // Vehicle is a train.
            //
            TYPE_TRAIN = 14;

            // Vehicle is a wheelchair.
            //
            TYPE_WHEELCHAIR = 15;

            // Vehicle is a stand-up scooter, including
            // motorized versions.
            //
            TYPE_STANDUP_SCOOTER = 17;
        }

        // The type of the vehicle.
        //
        optional Type type = 1;

        // The light state of the vehicle.
        //
        optional LightState light_state = 2;

        // Flag defining whether the vehicle has an attached trailer.
        //
        optional bool has_trailer = 3;

        // Id of the attached trailer.
        //
        // \note Field need not be set if has_Trailer is set to false or use
        // value for non valid id.
        //
        // \rules
        // check_if this.has_trailer is_equal_to true else do_check is_set
        // \endrules
        //
        optional Identifier trailer_id = 4;

        // The role of the vehicle.
        //
        optional Role role = 5;

        //
        // \brief The state of the lights of a vehicle.
        //
        message LightState
        {
            // State of the object's indicators.
            //
            optional IndicatorState indicator_state = 1;

            // State of the front fog light.
            //
            optional GenericLightState front_fog_light = 2;

            // State of the rear fog light.
            //
            optional GenericLightState rear_fog_light = 3;

            // State of the head lights.
            //
            optional GenericLightState head_light = 4;

            // State of the high beam.
            //
            optional GenericLightState high_beam = 5;

            // State of the reversing light.
            //
            optional GenericLightState reversing_light = 6;

            // State of the brake lights.
            //
            optional BrakeLightState brake_light_state = 7;

            // State of the (rear) license plate illumination.
            //
            optional GenericLightState license_plate_illumination_rear = 8;

            // Lighting of emergency vehicles (ambulance, fire engine, police
            // car, etc.). Must be set only if a vehicle is allowed to use this
            // illumination type.
            //
            optional GenericLightState emergency_vehicle_illumination = 9;

            // Lighting of service vehicles (snow removal, garbage truck, towing
            // vehicle, slow or wide vehicle, etc.). Must be set only if a
            // vehicle is allowed to use this illumination type.
            //
            optional GenericLightState service_vehicle_illumination = 10;

            // Definition of indicator states.
            //
            enum IndicatorState
            {
                // Indicator state is unknown (must not be used in ground
                // truth).
                //
                INDICATOR_STATE_UNKNOWN = 0;

                // Other (unspecified but known) state of indicator.
                //
                INDICATOR_STATE_OTHER = 1;

                // Indicators are off.
                //
                INDICATOR_STATE_OFF = 2;

                // Left indicator is on.
                //
                INDICATOR_STATE_LEFT = 3;

                // Right indicator is on.
                //
                INDICATOR_STATE_RIGHT = 4;

                // Hazard/warning light, i.e. both indicators, are on.
                //
                INDICATOR_STATE_WARNING = 5;
            }

            // Definition of generic light states for light that may be on or
            // off.
            //
            enum GenericLightState
            {
                // Light state is unknown (must not be used in ground truth).
                //
                GENERIC_LIGHT_STATE_UNKNOWN = 0;

                // Other (unspecified but known) state of light.
                //
                GENERIC_LIGHT_STATE_OTHER = 1;

                // Light is off.
                //
                GENERIC_LIGHT_STATE_OFF = 2;

                // Light is on.
                //
                GENERIC_LIGHT_STATE_ON = 3;

                // Light is flashing blue.
                // To be used for emergency vehicles.
                //
                GENERIC_LIGHT_STATE_FLASHING_BLUE = 4;

                // Light is flashing blue and red.
                // To be used for emergency vehicles.
                //
                GENERIC_LIGHT_STATE_FLASHING_BLUE_AND_RED = 5;

                // Light is flashing amber.
                // To be used for service vehicles.
                //
                GENERIC_LIGHT_STATE_FLASHING_AMBER = 6;
            }

            // Definition of brake light states.
            //
            enum BrakeLightState
            {
                // Brake light state is unknown (must not be used in ground
                // truth).
                //
                BRAKE_LIGHT_STATE_UNKNOWN = 0;

                // Other (unspecified but known) state of brake light.
                //
                BRAKE_LIGHT_STATE_OTHER = 1;

                // Brake lights are off.
                //
                BRAKE_LIGHT_STATE_OFF = 2;

                // Brake lights are on with normal intensity.
                //
                BRAKE_LIGHT_STATE_NORMAL = 3;

                // Brake lights are on with extra bright intensity (indicating
                // stronger braking).
                BRAKE_LIGHT_STATE_STRONG = 4;
            }
        }

        // Definition of vehicle roles.
        //
        // The role specifies the perceived role of a vehicle. Therefore, a
        // civil police car is set to ROLE_CIVIL as long as it cannot be
        // perceived as a ROLE_POLICE.
        // The normal use case will consist of 99% ROLE_CIVIL, as this role is
        // used for normal vehicles.
        // These roles may influence the behavior in traffic of the surrounding vehicles.
        // To check whether a role is "active" (e.g. blue flashing light of an
        // ambulance or an amber flashing light of a sweeper) can be looked up
        // in message LightState.
        //
        //
        enum Role
        {
            // Role of vehicle is unknown (must not be used in ground truth).
            //
            ROLE_UNKNOWN = 0;

            // Other (unspecified but known) role of vehicle.
            //
            ROLE_OTHER = 1;

            // The vehicle role is civil, e.g. a "normal" car.
            //
            ROLE_CIVIL = 2;

            // The vehicle role is ambulance.
            //
            ROLE_AMBULANCE = 3;

            // The vehicle role is fire fighting, e.g. fire engine.
            //
            ROLE_FIRE = 4;

            // The vehicle role is police.
            //
            ROLE_POLICE = 5;

            // The vehicle role is public transport, e.g. a school bus.
            //
            ROLE_PUBLIC_TRANSPORT = 6;

            // The vehicle role is roadside assistance, e.g. tow truck.
            //
            ROLE_ROAD_ASSISTANCE = 7;

            // The vehicle role is garbage collection, e.g. a garbage truck or sweeper.
            //
            ROLE_GARBAGE_COLLECTION = 8;

            // The vehicle role is road construction, e.g. a excavator or tipper truck.
            //
            ROLE_ROAD_CONSTRUCTION = 9;

            // The vehicle role is military, e.g. camouflaged truck.
            //
            ROLE_MILITARY = 10;
        }
    }

    //
    // \brief Additional pedestrian data in case the moving object is a human.
    //
    // This is an extension to the \c MovingObject with additional information
    // describing a pedestrian in more detail.
    //
    message PedestrianAttributes
    {
        // Position offset from the center of the bounding box to the current position
        // of the root point of the pedestrian skeleton model.
        //
        optional Vector3d bbcenter_to_root = 1;

        // List of all bones of the pedestrian.
        //
        // The number of bones may vary, based on the detail level of
        // the pedestrian model used. For example, some simulators will not include
        // detailed data about the hands of a pedestrian.
        //
        // \note A bone of each type can be provided, or left out, depending
        // on the desired level of detail, or available data. However, if a
        // bone is defined, all bones in the chain from that bone back to
        // the root point must be provided to create a complete chain.
        //
        repeated Bone skeleton_bone = 2;

        //
        // \brief Bones in the skeleton of the pedestrian.
        //
        // Each point represents a joint, or otherwise important point in the skeleton
        // of a pedestrian. For example pelvis, knee or shoulder. The naming convention
        // should be followed for identifying bones.
        //
        message Bone
        {
            // Bones are identified by their type, combined with which body side
            // they are on.
            //
            // To properly identify the bones the pre-defined naming convention
            // must be used.
            //
            // \image html OSI_SkeletonNamingConvention.svg
            //
            // A bone's name, position, and orientation is defined by the end-point closer
            // to the root. For example: the "LOWER_ARM_L" will define the point in the left
            // elbow of the model.
            //
            // If a bone which is more than one layer detached from the
            // root point is used, all bones between that bone and the root also
            // need to be defined in order to create a complete chain!
            //
            // If information about bones are missing, they may be left empty.
            //
            optional Type type = 1;

            // Position of the bone.
            //
            // Reference System is the root, defined by bbcenter_to_root
            // (\c PedestrianAttributes::bbcenter_to_root).
            //
            optional Vector3d position = 2;

            // Orientation of the bone.
            //
            // Reference System is the root, defined by bbcenter_to_root
            // (\c PedestrianAttributes::bbcenter_to_root).
            //
            optional Orientation3d orientation = 3;

            // Length of the bone.
            //
            // Measured along its major axis.
            //
            // Unit: m
            //
            optional float length = 4;

            // Determines whether a bone is explicitly missing from the pedestrian model.
            //
            // In case a pedestrian has missing limbs this can be explicitly communicated
            // by setting this boolean to TRUE.
            //
            optional bool missing = 5;

            // The velocity of the bone.
            //
            // Reference System is the root, defined by bbcenter_to_root
            // (\c PedestrianAttributes::bbcenter_to_root).
            //
            optional Vector3d velocity = 6;

            // The orientation rate of the bone.
            //
            // Reference System is the root, defined by bbcenter_to_root
            // (\c PedestrianAttributes::bbcenter_to_root).
            //
            optional Orientation3d orientation_rate = 7;

            // The type of the bone.
            //
            // \image html OSI_PedestrianModelHierarchy.jpg
            //
            enum Type
            {
                // Root point of the pedestrian. Defined by bbcenter_to_root
                // (\c PedestrianAttributes::bbcenter_to_root).
                //
                TYPE_ROOT = 0;

                // Bone defining the hip.
                //
                TYPE_HIP = 1;

                // Bone defining the lower part of the spine.
                //
                TYPE_LOWER_SPINE = 2;

                // Bone defining the upper part of the spine.
                //
                TYPE_UPPER_SPINE = 3;

                // Bone defining the neck.
                //
                TYPE_NECK = 4;

                // Bone defining the head.
                //
                TYPE_HEAD = 5;

                // Bone defining the left shoulder.
                //
                TYPE_SHOULDER_L = 6;

                // Bone defining the right shoulder.
                //
                TYPE_SHOULDER_R = 7;

                // Bone defining the left upper arm.
                //
                TYPE_UPPER_ARM_L = 8;

                // Bone defining the right upper arm.
                //
                TYPE_UPPER_ARM_R = 9;

                // Bone defining the left forearm.
                //
                TYPE_LOWER_ARM_L = 10;

                // Bone defining the right forearm.
                //
                TYPE_LOWER_ARM_R = 11;

                // Bone defining the left hand.
                //
                TYPE_FULL_HAND_L = 12;

                // Bone defining the right hand.
                //
                TYPE_FULL_HAND_R = 13;

                // Bone defining the left thigh.
                //
                TYPE_UPPER_LEG_L = 14;

                // Bone defining the right thigh.
                //
                TYPE_UPPER_LEG_R = 15;

                // Bone defining the left shin.
                //
                TYPE_LOWER_LEG_L = 16;

                // Bone defining the right shin.
                //
                TYPE_LOWER_LEG_R = 17;

                // Bone defining the left foot.
                //
                TYPE_FULL_FOOT_L = 18;

                // Bone defining the right foot.
                //
                TYPE_FULL_FOOT_R = 19;
            }
        }
    }
}