Describe model types

doc/architecture/environmental_effect_model.adoc

@@ -1,10 +1,9 @@
 = Environmental effect model
 
-Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua.
-Et malesuada fames ac turpis egestas.
-Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi.
-Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis.
-Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse.
-Amet commodo nulla facilisi nullam vehicula ipsum a.
-Nibh nisl condimentum id venenatis a.
-Diam vel quam elementum pulvinar etiam non quam lacus suspendisse.
+Environmental effect models consume sensor-view data and produce sensor-view data.
+Environmental effect models may, for example, include the following:
+
+* Shadows and occlusions
+* Weather effects
+* Physics of a sensor
+* Pre-processing of raw sensor data

doc/architecture/logical_model.adoc

@@ -1,10 +1,6 @@
 = Logical model
 
-Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua.
-Et malesuada fames ac turpis egestas.
-Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi.
-Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis.
-Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse.
-Amet commodo nulla facilisi nullam vehicula ipsum a.
-Nibh nisl condimentum id venenatis a.
-Diam vel quam elementum pulvinar etiam non quam lacus suspendisse.
+Logical models consume sensor-data data and produce sensor-data data.
+
+An example of a logical model is a sensor-fusion model, which fuses the output of multiple sensor models.
+Another use case is the injection of faults after the sensor model.

doc/architecture/sensor_model.adoc

@@ -1,9 +1,6 @@
 = Sensor model
 
-Lorem ipsum dolor sit amet, consectetur adipiscing elit, sed do eiusmod tempor incididunt ut labore et dolore magna aliqua.
-Et malesuada fames ac turpis egestas.
-Mauris pharetra et ultrices neque ornare aenean euismod elementum nisi.
-Nulla facilisi morbi tempus iaculis urna id. Justo eget magna fermentum iaculis.
-Sed augue lacus viverra vitae congue eu. Velit ut tortor pretium viverra suspendisse.
-Amet commodo nulla facilisi nullam vehicula ipsum a. Nibh nisl condimentum id venenatis a.
-Diam vel quam elementum pulvinar etiam non quam lacus suspendisse.
+Sensor models consume sensor-view data and produce sensor-data data.
+Those models can be based on physics or phenomenological.
+
+Sensor-model output does not represent raw data, but detected features or classified objects.

doc/architecture/traffic_participant.adoc

@@ -14,7 +14,14 @@ Therefore, the ego vehicle is also a traffic participant.
 
 The following figure shows the interface of a traffic participant.
 
-TODO: Add image of traffic participant interface.
+.Interface of a traffic participant
+image::osi-traffic-participant-principle.png[1100]
+
+Traffic participant models may use other OSI interfaces internally, for example, to model autonomous vehicles.
+The following figure shows a more advanced use case for traffic participants.
+
+.Traffic participant using other OSI interfaces internally
+image::osi-traffic-participant-advanced.png.png[1100]
 
 With every simulation step, an OSI traffic participant model receives ground truth data from the environment around itself, the sensor view.
 A traffic participant can output its own perceivable state, the traffic update.

doc/open-simulation-interface_user_guide.adoc

@@ -50,7 +50,7 @@ include::./architecture/logical_model.adoc[leveloffset=+3]
 
 include::./architecture/traffic_participant.adoc[leveloffset=+3]
 
-include::./architecture/vehicle_dynamics.adoc[leveloffset=+3]
+//include::./architecture/vehicle_dynamics.adoc[leveloffset=+3]
 
 === Coordinate systems and reference points