1      Definition

A Data Type representing an Object’s Position, Orientation and their velocity and acceleration.

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.
  • Error is measured as a percentage 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 14 provides the semantics of the components of the Spatial Attitude. The following should be noted:

  1. Each of Position, Velocity, and Acceleration is provided either in Cartesian (X,Y,Z) or Spherical (r,φ,θ) Coordinates.
  2. The Euler angles are indicated by (α,β,γ).

Table 14 – 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    
·       CoordType bit 0 0: Cartesian, 1: Spherical
·       ObjectTypeID bit 1-2 00: Digital Human

01: Generic

10 and 11: reserved

·       MediaTypeID bit 3-5 000: Audio; 001: Visual; 010: Audio-Visual; 011: Haptic; 100: Smell; 101: RADAR; 110 LiDAR; 111: Ultrasound.
·       Precision bit 6 0: single precision; 1: double precision
·       Reserved bit 7 reserved
·       SpatialAttitudeMask 2 Bytes 3*3 matrix of booleans (by rows)

Position Velocity Acceleration
Cartesian
Spherical
Orientat.
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 Err/CartPosition*100
·       ErrSpherPosition N6 Bytes Err/SpherPosition*100
·       ErrOrientation N7 Bytes Err/Orientation*100
·       ErrCartVelocity N8 Bytes Err/CartVelocity*100
·       ErrSpherVelocity N9 Bytes Err/SpherVelocity*100
·       ErrOrientVelocity N10 Bytes Err/OrientVelocity*100
·       ErrCartAccel N11 Bytes Err/CartAccel*100
·       ErrSpherAccel N12 Bytes Err/SpherAccel*100
·       ErrOrientAccel N13 Bytes Err/OrientAccel*100
DescrMetadata N14 Bytes Descriptive Metadata

5       Data Types

Object Types, Media Types, and Coordinate Types are required.

6       To Respondents

Respondents are requested to comment on Functional Requirements and Object Type ID, Media Type ID, and Coordinate Type ID.