Restructure MotionRequest message based on review

Now DesiredState and Trajectory messages are part of one top level
message MotionRequest.

Signed-off-by: Radhakrishna Kothamasu <radhakrishna.kothamasu@astech-auto.de>

Author: Krishna626

osi_motionrequest.proto

@@ -17,72 +17,89 @@ package osi3;
 //
 message MotionRequest
 {
+    // The interface version used by the sender (simulation environment).
+    //
+    optional InterfaceVersion version = 1;
+
+    // The data timestamp of the simulation environment. Zero time is arbitrary
+    // but must be identical for all messages. Zero time does not need to
+    // coincide with the UNIX epoch. Recommended is the starting time point of
+    // the simulation.
+    //
+    // \note For sensor view data this timestamp coincides both with the
+    // notional simulation time the data applies to and the time it was sent
+    // (there is no inherent latency for sensor view data, as opposed to
+    // sensor data).
+    //
+    optional Timestamp timestamp = 2;
 
-	//	
-	// Define different options for HAD function ouput.
-	// Each option is corresponds to a field in the message.
-	//
-	enum OutputOptions {
-		DESIRED_STATE = 0;
-		TRAJECTORY = 1;
-	}
-    
 	//
 	// Define the option that is used to specify the motion request.
 	// This must be set. Additionally, the field corresponding to the specified option must be set.
 	//
-        optional OutputOptions output_option = 1;
-	
+	optional OutputOptions output_option = 3;
+
 	//
 	// Defines a desired state.
 	// If the output option is set to DESIRED_STATE, this must be provided.
 	//
-	optional DesiredState desired_state = 2;
-	
+	optional DesiredState desired_state = 4;
+
 	//
 	// Defines a desired trajectory.
 	// If the output option is set to DESIRED_TRAJECTORY, this must be set.
 	//
-	optional Trajectory desired_trajectory = 3;
-}
+	optional Trajectory desired_trajectory = 5;
 
-//
-// \brief Defined the trajectory desired by the HAD function. This trajectory is the result of the trajctory planning step
-// in the HAD function. The task of the acutator management is to follow the trajectory as close as possible.
-// The timestamps inside the trajecotry must be defined in global simulation time.
-//
-message Trajectory {
-	repeated StatePoint trajectory_point = 1;
-}
+	//	
+	// Define different options for HAD function ouput.
+	// Each option is corresponds to a field in the message.
+	//
+	enum OutputOptions 
+	{
+		DESIRED_STATE = 0;
+		TRAJECTORY = 1;
+	}
 
-//
-// \brief The desired state calculated by the HAD function as a result of the motion planning stack.
-// The actuator management is supposed to reach the desired state at the specified time.
-//
-message DesiredState
-{  
-    //
-    // The timestamp indicates the point in time the state needs to be reached, 
-    // given in global simulation time.
-    //
-    optional Timestamp timestamp = 1;
+	//
+	// \brief The desired state is calculated by the HAD function as a result of the motion planning stack.
+	// The actuator management is supposed to reach the desired state at the specified time.
+	//
+	message DesiredState
+	{  
+	    //
+	    // The timestamp indicates the point in time the state needs to be reached, 
+	    // given in global simulation time.
+	    //
+	    optional Timestamp timestamp = 1;
 
-    // intended position to be reached in x, y, and z direction.
-    //
-    optional Vector3d position = 2;
-    
-    // intended orientation to be reached containing roll, pitch, and yaw angle
-    //
-    optional Orientation3d  orientation = 3;
-    
-    // intended velocity to be reached in x, y, and z direction
-    //
-    optional Vector3d velocity = 4;
-    
-    // intended acceleration to be reached in x, y, and z direction
-    //
-    optional Vector3d acceleration = 5;
+	    // intended position to be reached in x, y, and z direction.
+	    //
+	    optional Vector3d position = 2;
 
-}
+	    // intended orientation to be reached containing yaw, pitch and roll angle
+	    //
+	    optional Orientation3d  orientation = 3;
+
+	    // intended velocity to be reached in x, y, and z direction
+	    //
+	    optional Vector3d velocity = 4;
 
+	    // intended acceleration to be reached in x, y, and z direction
+	    //
+	    optional Vector3d acceleration = 5;
+	}
 
+	//
+	// \brief Defined trajectory desired by the HAD function. This trajectory is the result of the trajectory planning step
+	// in the HAD function. The task of the acutator management is to follow this trajectory as closely as possible.
+	// The timestamps inside the trajecotry must be defined in global simulation time. 
+	// \note Trajectory is kept as a separate message for future extensions
+	//
+	message Trajectory 
+	{
+		// consists of intended position (x, y, and z) and orientation (yaw, pitch and roll) of intended state to be reached
+		//
+		repeated StatePoint trajectory_point = 1;
+	}
+}