Added orientation acceleration to message BaseMoving (solves #279) (#291)

* Added orientation acceleration to message BaseMoving
* Corrected definition in order to avoid unnecessary numerical drift

Author: TBreitenbergerConti

osi_common.proto

@@ -370,12 +370,11 @@ message BaseMoving
     // The orientation becomes global/absolute if the parent frame is inertial
     // (all parent frames up to ground truth).
     //
-    // <tt>Rotation_yaw_pitch_roll(#orientation (t)) :=
-    // Rotation_yaw_pitch_roll(#orientation_rate
-    // *dt)*Rotation_yaw_pitch_roll(#orientation (t-dt))</tt>
+    // <tt>orientation.yaw(t) := orientation_rate.yaw(t) * dt + orientation.yaw(t-dt)</tt>
     //
-    // \note <tt>#orientation (t)</tt> is \b not equal <tt>#orientation
-    // (t-dt)+#orientation_rate *dt</tt>
+    // <tt>orientation.pitch(t) := orientation_rate.pitch(t) * dt + orientation.pitch(t-dt)</tt>
+    //
+    // <tt>orientation.roll(t) := orientation_rate.roll(t) * dt + orientation.roll(t-dt)</tt>
     //
     optional Orientation3d orientation_rate = 6;
 
@@ -399,4 +398,18 @@ message BaseMoving
     // The polygon is defined counter-clockwise.
     //
     repeated Vector2d base_polygon = 7;
+    
+    // The relative orientation acceleration of the moving object w.r.t. its parent
+    // frame and parent orientation acceleration in the center point of the bounding box
+    // (origin of the bounding box frame), noted in the parent frame.
+    // The orientation becomes global/absolute if the parent frame is inertial
+    // (all parent frames up to ground truth).
+    //
+    // <tt>orientation_rate.yaw(t) := orientation_acceleration.yaw(t) * dt + orientation_rate.yaw(t-dt)</tt>
+    //
+    // <tt>orientation_rate.pitch(t) := orientation_acceleration.pitch(t) * dt + orientation_rate.pitch(t-dt)</tt>
+    //
+    // <tt>orientation_rate.roll(t) := orientation_acceleration.roll(t) * dt + orientation_rate.roll(t-dt)</tt>
+    //
+    optional Orientation3d orientation_acceleration = 8;
 }