From 80dd1913306e3c5cdb12d97ee6908875dfe5dd78 Mon Sep 17 00:00:00 2001 From: nsubiron Date: Fri, 1 Dec 2017 14:25:13 +0100 Subject: [PATCH] Box extent documentation --- Docs/measurements.md | 16 ++++++++++++++-- 1 file changed, 14 insertions(+), 2 deletions(-) diff --git a/Docs/measurements.md b/Docs/measurements.md index d6b730de6..304656415 100644 --- a/Docs/measurements.md +++ b/Docs/measurements.md @@ -112,10 +112,22 @@ If enabled, the server attaches a list of agents to the measurements package every frame. Each of these agents has an unique id that identifies it, and belongs to one of the following classes - * **Vehicle** Contains its transform, bounding-box, and forward speed. - * **Pedestrian** Contains its transform, bounding-box, and forward speed. (*) + * **Vehicle** Contains its transform, box-extent, and forward speed. + * **Pedestrian** Contains its transform, box-extent, and forward speed. (*) * **Traffic light** Contains its transform and state (green, yellow, red). * **Speed-limit sign** Contains its transform and speed-limit. (*) At this point every pedestrian is assumed to have the same bounding-box size. + +###### Transform and bounding box + +The transform defines the location and orientation of the agent. The bounding +box is assumed to be centered at the agent's location. The box extent gives the +radii dimensions of the bounding box of the agent. + +![Vehicle Bounding Box](img/vehicle_bounding_box.png) + +!!! important + As seen in the picture, the Z coordinate of the box is not fitted to + vehicle's height.