1 Definition
An Item representing the Position and Orientation of an Object, and their velocities and accelerations.
2 Functional Requirements
- The Position of an Object is that of a representative point in the Object.
- Cartesian and Polar Coordinate Systems are supported.
- The following media used types are supported: Audio; Visual; Audio-Visual; Haptic; Smell; RADAR; LiDAR; Ultrasound; Offline Map.
- Error is the estimated absolute error in the measure of the value of each of CartPosition, SpherPosition, Orientation, CartVelocity, SpherVelocity, OrientVelocity, CartAccel, SpherAccel, OrientAccel.
- Error is assumed to be the same for the three components of each value set.
3 Syntax
https://schemas.mpai.community/OSD/V1.1/data/SpatialAttitude.json
4 Semantics
Table 1 provides the semantics of the components of the Spatial Attitude. The following should be noted:
- Each of Position, Velocity, and Acceleration is provided either in Cartesian (X,Y,Z) or Spherical (r,φ,θ) Coordinates.
- The Euler angles are indicated by (α,β,γ).
Table 11 – Semantics of the Spatial Attitude
Header | N1 Bytes | ||
– Standard-Spatial Attitude | 9 Bytes | The characters “OSD-OSA-V” | |
– Version | N2 Bytes | Major version – 1 or 2 characters | |
– Dot-separator | 1 Byte | The character “.” | |
– Subversion | N3 Bytes | Minor version – 1 or 2 characters | |
ObjectSpatialAttitudeID | N4 Bytes | Identifier of Object Spatial Attitude. | |
General | N5 Bytes | Set of general data | |
– CoordinateType | N6 Bytes | One of Cartesian, Spherical, Geodesic, Toroidal. | |
– ObjectType | N7 Bytes | One of Digital Human, Generic. | |
– MediaType | N8 Bytes | One of Speech, Audio, Visual, Audio-Visual, Haptic, Smell, RADAR, LiDAR, Ultrasound. | |
– Precision | N9 Bytes | One of single precision, double precision | |
Position and Orientation | |||
– CartPosition (X,Y,Z) | 12/24 Bytes | Array (in metres) | |
– SpherPosition (r,φ,θ) | 12/24 Bytes | Array (in metres and degrees) | |
– Orient (α,β,γ) | 12/24 Bytes | Array (in degrees) | |
Velocity of Position and Orientation | |||
– CartVelocity (X,Y,Z) | 12/24 Bytes | Array (in metres) | |
– SpherVelocity (r,φ,θ) | 12/24 Bytes | Array (in metres and degrees) | |
– OrientVelocity (α,β,γ) | 12/24 Bytes | Array (in degrees) | |
Acceleration of Position and Orientation | |||
– CartAccel (X,Y,Z) | 12/24 Bytes | Array (in metres) | |
– SpherAccel (r,φ,θ) | 12/24 Bytes | Array (in metres and degrees) | |
– OrientAccel (α,β,γ) | 12/24 Bytes | Array (in degrees) | |
Errors | |||
– ErrCartPosition | N5 Bytes | Error of CartPosition | |
– ErrSpherPosition | N6 Bytes | Error of SpherPosition | |
– ErrOrientation | N7 Bytes | Error of Orientation | |
– ErrCartVelocity | N8 Bytes | Error of CartVelocity | |
– ErrSpherVelocity | N9 Bytes | Error of SpherVelocity | |
– ErrOrientVelocity | N10 Bytes | Error of OrientVelocity | |
– ErrCartAccel | N11 Bytes | Error of CartAccel | |
– ErrSpherAccel | N12 Bytes | Error of SpherAccel | |
– ErrOrientAccel | N13 Bytes | Error of OrientAccel | |
DescrMetadata | N14 Bytes | Descriptive Metadata |