From 0c19346bfa9b9389653c851e616377781fc6202a Mon Sep 17 00:00:00 2001
From: Dennis Otte <dennis.otte@twt-gmbh.de>
Date: Thu, 14 Dec 2023 20:12:55 +0100
Subject: [PATCH] feat[code]: extend StatePoint

refers to #748
Extends the StatePoint with optional fields velocity,
acceleration, orientation and orientation rate.

Signed-off-by: Dennis Otte <dennis.otte@twt-gmbh.de>
---
 osi_common.proto | 45 +++++++++++++++++++++++++++++++++++++++++++++
 1 file changed, 45 insertions(+)

diff --git a/osi_common.proto b/osi_common.proto
index ec84ed522..ab6b4cc7c 100644
--- a/osi_common.proto
+++ b/osi_common.proto
@@ -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;
 }
 
 //