Detailed explanation of ALL attributes for ALL trajectory types (including new NURBS proposal)

Bugzilla Link	4239
Created on	Dec 04, 2019 14:40
Resolution	WORKSFORME
Resolved on	Dec 16, 2019 15:46
Version	unspecified

Extended Description

All trajectory types are now defined with sequences of OSCPositions. What does that mean exactly?

• Polyline – a sequence of OSCPositions for a single Vertex, and we have a

sequence of Vertexes

• Clothoid – a sequence of OSCPositions (but a single curvature double) for one

clothoid.

• NURBS – a single ControlPoint element should contain a sequence of

OSCPositions? What is the meaning of these positions when a NURBS control

point is just a single point?

For Clothoid, what are startTime and stopTime?

For NURBS, the XML schema may be wrong. The number of ControlPoint elements (at least degree + 1) and number of Knot elements (degree + #ControlPoints - 1) is not the same in most cases. These should be inside separate xsd:sequence elements.

What exactly is the meaning of time attribute and how does it affect the execution of the scenario?