[add]更新PB，添加他车轨迹预测接口

libraries/mogo-adas-data/src/main/proto/geometry.proto

@@ -0,0 +1,84 @@
+syntax = "proto2";
+package geometry;
+
+message Vector3 {
+  optional double x = 1;
+  optional double y = 2;
+  optional double z = 3;
+}
+
+message Vector3f {
+  optional float x = 1;
+  optional float y = 2;
+  optional float z = 3;
+}
+
+message Point2D {
+  optional double x = 1 [default = nan];
+  optional double y = 2 [default = nan];
+}
+
+message Point3D {
+  optional double x = 1 [default = nan];
+  optional double y = 2 [default = nan];
+  optional double z = 3 [default = nan];
+}
+
+message Trace {
+  optional double timestamp = 1;
+  optional Point3D position = 2;
+  optional Point3D velocity = 3;
+  optional Point3D acceleration = 4;
+  optional Point3D heading = 5;
+}
+
+message PointLLH {
+  // Longitude in degrees, ranging from -180 to 180.
+  optional double lon = 1 [default = nan];
+  // Latitude in degrees, ranging from -90 to 90.
+  optional double lat = 2 [default = nan];
+  // WGS-84 ellipsoid height in meters.
+  optional double height = 3 [default = 0.0];
+}
+
+message Point {
+  optional double x = 1;
+  optional double y = 2;
+  optional double z = 3;
+}
+
+message Quaternion {
+  optional double x = 1 [default = nan];
+  optional double y = 2 [default = nan];
+  optional double z = 3 [default = nan];;
+  optional double w = 4 [default = nan];
+}
+
+message Polygon {
+  repeated Point points = 1;
+}
+
+message Transform {
+  optional Vector3 translation = 1;
+  optional Quaternion rotation = 2;
+}
+
+//pose in free space, composed of position and orientation
+message Pose {
+  optional Point position = 1;
+  optional Quaternion orientation = 2;
+}
+
+//acceleration in free space broken into its linear and angular parts
+message Accel {
+  optional Vector3 linear = 1;
+  optional Vector3 angular = 2;
+}
+
+//velocity in free space broken into its linear and angular parts
+message Twist {
+  optional Vector3 linear = 1;
+  optional Vector3 angular = 2;
+}
+
+

libraries/mogo-adas-data/src/main/proto/message_pad.proto

@@ -3,7 +3,7 @@ package mogo.telematics.pad;
 
 enum ProtocolVersion{
     Defaultver = 0;
-    CurrentVersion = 1; //每次修改proto文件增加1
+    CurrentVersion = 2; //每次修改proto文件增加1
 }
 
 enum MessageType
@@ -17,6 +17,7 @@ enum MessageType
     MsgTypeAutopilotState = 0x10004; //自动驾驶状态
     MsgTypeReportMessage = 0x10005; //监控事件报告
     MsgTypePerceptionTrafficLight = 0x10006; //感知红绿灯
+    MsgTypePredictionObstacleTrajectory = 0x10007; //他车轨迹预测
 
     MsgTypeBasicInfoReq = 0x10100; //自动驾驶设备基础信息请求
     MsgTypeBasicInfoResp = 0x10101; //自动驾驶设备基础信息应答
@@ -124,6 +125,9 @@ message AutopilotState
 // message definition for MessageType: MsgTypePerceptionTrafficLight
 // refer to traffic_light.proto
 
+// message definition for MessageType: MsgTypePredictionObstacleTrajectory
+// refer to prediction.proto
+
 // message definition for MessageType: MsgTypeBasicInfoReq
 message BasicInfoReq 
 {

libraries/mogo-adas-data/src/main/proto/prediction.proto

@@ -0,0 +1,33 @@
+syntax = "proto2";
+
+package prediction;
+
+// common
+import "header.proto";
+import "geometry.proto";
+
+
+// estimated obstacle intent
+
+message mPredictionObject {
+  optional int64    m_nid =1;    //target id
+  optional int32    m_nquality =2; //target tracking life quality
+  optional int32    classtype =3;  //target classtype
+  optional int32    m_preconfidence=4;  //target predciton confidence
+
+  repeated geometry.Point  prediction_trajectory = 5;  //target prediction trajectory :vector : meter
+  repeated geometry.Point  prediction_pose = 6;         //targe prediciton pose  vector       angle:°
+  optional geometry.Vector3  objsize = 7; //length width height  :meter                             
+
+}
+
+message mPredictionObjects {
+  optional common.Header header = 1;   
+  optional int32    m_nnum0 =2;   // all target number
+  optional int64    allcyclenum =3;//process cycle number
+  optional double  m_ftime=4;      //time stamp
+  optional double  fdeltat=5;      // deltatime prediciton time stamp default:0.1s
+  repeated mPredictionObject objs=6; //obj capcity 
+
+}
+