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Merge branch 'master' into dev

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nsubiron 2017-12-01 14:25:36 +01:00
parent 146bd1948e 80dd191330
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Docs/measurements.md
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@ -116,10 +116,22 @@ 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 every frame. Each of these agents has an unique id that identifies it, and
belongs to one of the following classes belongs to one of the following classes
* **Vehicle** Contains its transform, bounding-box, and forward speed. * **Vehicle** Contains its transform, box-extent, and forward speed.
* **Pedestrian** Contains its transform, bounding-box, and forward speed. (*) * **Pedestrian** Contains its transform, box-extent, and forward speed. (*)
* **Traffic light** Contains its transform and state (green, yellow, red). * **Traffic light** Contains its transform and state (green, yellow, red).
* **Speed-limit sign** Contains its transform and speed-limit. * **Speed-limit sign** Contains its transform and speed-limit.
(*) At this point every pedestrian is assumed to have the same bounding-box (*) At this point every pedestrian is assumed to have the same bounding-box
size. 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.