update message definition

src/tmx/Messages/include/MessageTypes.h

@@ -54,7 +54,6 @@ static CONSTEXPR const char *MSGTYPE_VEHICLE_STRING = "Vehicle";
 static CONSTEXPR const char *MSGTYPE_PEDESTRIAN_STRING = "Pedestrian";
 static CONSTEXPR const char *MSGTYPE_PMM_STRING = "Pmm";
 static CONSTEXPR const char *MSGTYPE_RADIO_STRING = "Radio";
-static CONSTEXPR const char *MSGTYPE_DETECTED_STRING = "Simulation";
 
 enum MsgSubType 
 {
@@ -92,7 +91,7 @@ static CONSTEXPR const char *MSGSUBTYPE_INCOMING_STRING = "Incoming";
 static CONSTEXPR const char *MSGSUBTYPE_OUTGOING_STRING = "Outgoing";
 static CONSTEXPR const char *MSGSUBTYPE_SHUTDOWN_STRING = "Shutdown";
 static CONSTEXPR const char *MSGSUBTYPE_TIMESYNC_STRING = "TimeSync";
-static CONSTEXPR const char *MSGSUBTYPE_EXTERNAL_OBJECT_STRING = "ExternalObject";
+static CONSTEXPR const char *MSGSUBTYPE_SENSOR_DETECTED_OBJECT_STRING = "SensorDetectedObject";
 
 } /* End namespace messages */
 

src/tmx/Messages/include/simulation/SensorDetectedObject.h

@@ -0,0 +1,102 @@
+#ifndef INCLUDE_SIMULATED_SensorDetectedObject_H_
+#define INCLUDE_SIMULATED_SensorDetectedObject_H_
+
+#include <tmx/messages/message.hpp>
+#include <MessageTypes.h>
+#include <simulation/Covariance.h>
+
+namespace tmx
+{
+    namespace messages
+    {
+        namespace simulation
+        {
+            /**
+             * This SensorDetectedObject is used to communicate the sensor detected object information with various applications
+             * including internal infrastructure applications and external road user applications through simulated environment.
+             * It defines the message type and sub type and all data members.
+             */
+            class SensorDetectedObject : public tmx::message
+            {
+            public:
+                SensorDetectedObject(){};
+                SensorDetectedObject(const tmx::message_container_type &contents) : tmx::message(contents) {};
+                ~SensorDetectedObject(){};
+                // Message type for routing this message through TMX core
+                static constexpr const char *MessageType = MSGTYPE_APPLICATION_STRING;
+
+                // Message sub type for routing this message through TMX core
+                static constexpr const char *MessageSubType = MSGSUBTYPE_SENSOR_DETECTED_OBJECT_STRING;
+                /**
+                 * Metadata to describe the external object
+                */
+                std_attribute(this->msg, bool, MetadataIsSimulation, false, );
+                std_attribute(this->msg, uint64_t, MetadataTimestamp, 0, );
+                std_attribute(this->msg, std::string, SensorProjString, "", );
+                std_attribute(this->msg, std::string, SensorType, "", );
+                std_attribute(this->msg, std::string, SensorId, "", );
+                std_attribute(this->msg, double, SensorLocationX, 0, );
+                std_attribute(this->msg, double, SensorLocationY, 0, );
+                std_attribute(this->msg, double, SensorLocationZ, 0, );
+                std_attribute(this->msg, std::string, MetadataInfrastructureId, "", );
+                std_attribute(this->msg, std::string, MetadataSensorId, "", );                
+
+                // Object id. Matching ids on a topic should refer to the same object within some time period, expanded
+                std_attribute(this->msg, std::string, Id, "", );
+
+                // Pose of the object within the frame specified in header
+                // This represents a pose in free space with uncertainty.
+                std_attribute(this->msg, double, PositionX, 0, );
+                std_attribute(this->msg, double, PositionY, 0, );
+                std_attribute(this->msg, double, PositionZ, 0, );
+                // This represents an orientation in free space in quaternion form.
+                std_attribute(this->msg, double, OrientationX, 0, );
+                std_attribute(this->msg, double, OrientationY, 0, );
+                std_attribute(this->msg, double, OrientationZ, 0, );
+                std_attribute(this->msg, double, OrientationW, 0, );
+                array_attribute( Covariance, PositionCovariance);
+
+                // #Average velocity of the object within the frame specified in header
+                std_attribute(this->msg, double, VelocityTwistLinearX, 0, );
+                std_attribute(this->msg, double, VelocityTwistLinearY, 0, );
+                std_attribute(this->msg, double, VelocityTwistLinearZ, 0, );
+                std_attribute(this->msg, double, VelocityTwistAngularX, 0, );
+                std_attribute(this->msg, double, VelocityTwistAngularY, 0, );
+                std_attribute(this->msg, double, VelocityTwistAngularZ, 0, );
+                array_attribute( Covariance, VelocityCovariance);
+
+                // #Instantaneous velocity of an object within the frame specified in header
+                std_attribute(this->msg, double, VelocityInstTwistLinearX, 0, );
+                std_attribute(this->msg, double, VelocityInstTwistLinearY, 0, );
+                std_attribute(this->msg, double, VelocityInstTwistLinearZ, 0, );
+                std_attribute(this->msg, double, VelocityInstTwistAngularX, 0, );
+                std_attribute(this->msg, double, VelocityInstTwistAngularY, 0, );
+                std_attribute(this->msg, double, VelocityInstTwistAngularZ, 0, );
+                array_attribute( Covariance, VelocityInstCovariance);
+
+                // #The size of the object aligned along the axis of the object described by the orientation in pose
+                // #Dimensions are specified in meters
+                /**
+                 * # This represents a vector in free space.
+                    # It is only meant to represent a direction. Therefore, it does not
+                    # make sense to apply a translation to it (e.g., when applying a
+                    # generic rigid transformation to a Vector3, tf2 will only apply the
+                    # rotation).
+                */
+                // geometry_msgs/Vector3 size
+                std_attribute(this->msg, double, SizeLength, 0, );
+                std_attribute(this->msg, double, SizeWidth, 0, );
+                std_attribute(this->msg, double, SizeHeight, 0, );
+
+                // #Confidence [0,1]
+                std_attribute(this->msg, double, Confidence, 0, );
+
+                // #describes a general object type as defined in this message
+                std_attribute(this->msg, std::string, ObjectType, "", );
+            };
+
+        }
+    }
+
+}; // namespace tmx
+#endif