Clear Statement on Ground Clearance and Bounding Box needed?

[PhRosenberger]

Describe the problem

I found no statement at the bounding box documentation or in the ground clearance's about their relation.
Therefore, I am not sure, if everybody get this right
So, I would suggest to add it.

Proposal

In file osi_detectedobject.proto change lines 158 - 163 to:

// The base parameters of the moving object.
//
// \note The bounding box does NOT includes mirrors for vehicles.
// \note The parent frame of \c base is the sensor's vehicle frame.
// \note The height includes the ground_clearance, so always goes from top to ground.
//
optional BaseMoving base = 2;

And in file osi_object.proto change lines 432 - 438 to:

// Static minimal distance in m of under-body plane to ground
// surface plane (i.e. disregarding driving dynamic effects or road
// surface effects) under neutral load conditions. Can be useful to
// approximate the clear area under a vehicle that a sensor can see
// through.
// The bounding box itself includes the ground clearance within the height.
//
optional double ground_clearance = 6;

Additional context

Relates to #444

[pmai]

I like this proposal.

[kmeids]

Describe the problem

I found no statement at the bounding box documentation or in the ground clearance's about their relation.
Therefore, I am not sure, if everybody get this right
So, I would suggest to add it.

Proposal

In file osi_detectedobject.proto change lines 158 - 163 to:

// The base parameters of the moving object.
//
// \note The bounding box does NOT includes mirrors for vehicles.
// \note The parent frame of \c base is the sensor's vehicle frame.
// \note The height includes the ground_clearance, so always goes from top to ground.
//
optional BaseMoving base = 2;

And in file osi_object.proto change lines 432 - 438 to:

// Static minimal distance in m of under-body plane to ground

// Static minimal distance or space from the lowest point of the vehicle, under neutral load conditions,
// to the surface plane below it.
(I don't want to mention ground, since in some cases we may have a
speed bumper under the vehicle, unless you don't want to take this into consideration)

// (i.e. disregarding driving dynamic effects or road
// surface effects) under neutral load conditions. Can be useful to
// approximate the clearance area under a vehicle that a sensor can see
// through.
// The bounding box itself includes the ground clearance within the height.

// \note \c ground_clearance is included in the bounding box height.
(I would include this as a note, this is in Dimension3D or?)

//
optional double ground_clearance = 6;

#### Additional context
Relates to #444

[PhRosenberger]

// Static minimal distance or space from the lowest point of the vehicle, under neutral load conditions,
// to the surface plane below it.
(I don't want to mention ground, since in some cases we may have a
speed bumper under the vehicle, unless you don't want to take this into consideration)

Yes, I agree.

// \note \c ground_clearance is included in the bounding box height.
(I would include this as a note, this is in Dimension3D or?)

Yes, and yes.

[PhRosenberger]

@kmeids have you already startet a PR or should I?

[kmeids]

@PhRosenberger not yet, please go ahead a start one.