package geometry

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A general 2D point. Its meaning and units depend on context, and must be explained in comments.

• optional double x = 1

• optional double y = 2

A general 3D point. Its meaning and units depend on context, and must be explained in comments.

Used in: controller.Pose, controller.Uncertainty, Polygon, perception.PerceptionObstacle, perception.SensorMeasurement

• optional double x = 1

• optional double y = 2

• optional double z = 3

A point in the map reference frame. The map defines an origin, whose coordinate is (0, 0, 0). Most modules, including localization, perception, and prediction, generate results based on the map reference frame. Currently, the map uses Universal Transverse Mercator (UTM) projection. See the link below for the definition of map origin. https://en.wikipedia.org/wiki/Universal_Transverse_Mercator_coordinate_system The z field of PointENU can be omitted. If so, it is a 2D location and we do not care its height.

Used in: controller.Pose, decision.ObjectFollow, decision.ObjectOvertake, decision.ObjectStop, decision.ObjectYield

• optional double x = 1

  East from the origin, in meters.

• optional double y = 2

  North from the origin, in meters.

• optional double z = 3

  Up from the WGS-84 ellipsoid, in

A point in the global reference frame. Similar to PointENU, PointLLH allows omitting the height field for representing a 2D location.

• optional double lon = 1

  Longitude in degrees, ranging from -180 to 180.

• optional double lat = 2

  Latitude in degrees, ranging from -90 to 90.

• optional double height = 3

  WGS-84 ellipsoid height in meters.

A general polygon, points are counter clockwise

• repeated Point3D point = 1

A unit quaternion that represents a spatial rotation. See the link below for details. https://en.wikipedia.org/wiki/Quaternions_and_spatial_rotation The scalar part qw can be omitted. In this case, qw should be calculated by qw = sqrt(1 - qx * qx - qy * qy - qz * qz).

Used in: controller.Pose

• optional double qx = 1

• optional double qy = 2

• optional double qz = 3

• optional double qw = 4