Update trajectoryControl structure

<?xml version="1.0" encoding="UTF-8" standalone="no" ?><module asnv-version="1" entry-point="PCIM" name="PCIM" tags="automatic"><sequence name="PCIM"><field name="header" type="ItsPduHeader"/><field name="pcim" type="Pcim"/></sequence><sequence name="ItsPduHeader"><field name="protocolVersion" type="ItsPduHeader$protocolVersion"/><field name="messageID" type="ItsPduHeader$messageID"/><field name="stationID" type="StationID"/></sequence><integer max="255" min="0" name="ItsPduHeader$protocolVersion"/><integer max="255" min="0" name="ItsPduHeader$messageID"><value name="denm" value="1"/><value name="cam" value="2"/><value name="poi" value="3"/><value name="spatem" value="4"/><value name="mapem" value="5"/><value name="ivim" value="6"/><value name="ev_rsr" value="7"/><value name="tistpgtransaction" value="8"/><value name="srem" value="9"/><value name="ssem" value="10"/><value name="evcsn" value="11"/><value name="saem" value="12"/><value name="rtcmem" value="13"/><value name="pcim" value="15"/><value name="pcvm" value="16"/></integer><integer max="4294967295" min="0" name="StationID"/><sequence name="Pcim"><field name="length" type="UInt16"/><field name="rollingCounter" type="UInt16"/><field name="dataID" type="UInt32"/><field name="crc32" type="UInt32"/><field name="vehicles" type="Pcim$vehicles"/></sequence><integer max="65535" min="0" name="UInt16"/><integer max="4294967295" min="0" name="UInt32"/><sequence-of max="32" min="1" name="Pcim$vehicles"><field type="VehicleContainer"/></sequence-of><sequence name="VehicleContainer"><field name="currentSessionID" type="VehicleContainer$currentSessionID"/><field name="currentMissionID" type="VehicleContainer$currentMissionID"/><field name="rollingCounterFromPcvm" type="UInt16"/><field name="vehicleIdentification" optional="true" type="VehicleIdentification"/><field name="drivingPermission" optional="true" type="DrivingPermission"/><field name="driveCommand" type="DriveCommand"/><field name="detectedVehiclePose" optional="true" type="DetectedVehiclePose"/><field name="controlInterface" type="ControlInterface"/><field name="oemSpecific" optional="true" type="UInt16"/></sequence><ia5-string max="17" min="17" name="VehicleContainer$currentSessionID"/><ia5-string max="6" min="6" name="VehicleContainer$currentMissionID"/><sequence name="VehicleIdentification"><field name="seed" type="UInt64"/><field name="codeLength" type="UInt8"/><field name="authorizationState" type="AuthorizationStateEnum"/></sequence><integer max="18446744073709551615" min="0" name="UInt64"/><integer max="255" min="0" name="UInt8"/><enumerated name="AuthorizationStateEnum"><value name="undefined" value="0"/><value name="prepared" value="1"/><value name="successful" value="2"/><value name="authorization_error" value="3"/><value name="new_code" value="4"/></enumerated><sequence name="DrivingPermission"><field name="expirationTime" type="UInt42"/><field name="velocityMax" type="Int16"/><field name="curvatureMin" type="Int16"/><field name="curvatureMax" type="Int16"/></sequence><integer max="4398046511103" min="0" name="UInt42"/><integer max="32767" min="-32768" name="Int16"/><sequence name="DriveCommand"><field name="driveCommandAction" type="DriveCommandActionEnum"/><field name="terminateReason" type="TerminateReasonEnum"/><field name="selectGear" type="SelectGearEnum"/><field name="directionIndicator" type="VehicleDirIndicatorEnum"/><field name="emergencyStop" type="EmergencyStopEnum"/></sequence><enumerated name="DriveCommandActionEnum"><value name="standby" value="0"/><value name="initialize" value="1"/><value name="drive" value="2"/><value name="terminate" value="3"/></enumerated><enumerated name="TerminateReasonEnum"><value name="proceed" value="0"/><value name="destination_reached" value="1"/><value name="infrastructure_error" value="2"/><value name="vehicle_error" value="3"/><value name="backend" value="4"/></enumerated><enumerated name="SelectGearEnum"><value name="neutral" value="0"/><value name="forwards" value="1"/><value name="backwards" value="2"/><value name="park" value="3"/></enumerated><enumerated name="VehicleDirIndicatorEnum"><value name="dir_indicator_off" value="0"/><value name="dir_indicator_right" value="1"/><value name="dir_indicator_left" value="2"/><value name="dir_indicator_both" value="3"/><value name="dir_indicator_unknown" value="4"/></enumerated><enumerated name="EmergencyStopEnum"><value name="inactive" value="0"/><value name="precharge" value="1"/><value name="active" value="2"/></enumerated><sequence name="DetectedVehiclePose"><field name="detectedPose" type="Pose"/><field name="poseMeasurementTime" type="UInt42"/></sequence><sequence name="Pose"><field name="x" type="Int20"/><field name="y" type="Int20"/><field name="psi" type="UInt16"/></sequence><integer max="524287" min="-524288" name="Int20"/><choice name="ControlInterface"><field name="pathSnippet" type="PathSnippet"/><field name="directControl" type="DirectControl"/><field name="trajectoryControl" type="TrajectoryControl"/></choice><sequence-of max="5" min="0" name="PathSnippet"><field type="WayPoint"/></sequence-of><sequence name="WayPoint"><field name="index" type="UInt16"/><field name="wayPointPose" type="Pose"/><field name="velocity" type="Int16"/><field name="curvature" type="Int16"/></sequence><sequence name="DirectControl"><field name="velocityReq" type="Int16"/><field name="curvatureReq" type="Int16"/></sequence><sequence name="TrajectoryControl"><field name="timeReference" type="UInt42"/><field name="controlTrajectory" type="ControlTrajectory"/><field name="stateTrajectory" type="StateTrajectory"/></sequence><sequence-of max="50" min="0" name="ControlTrajectory"><field type="ControlPoint"/></sequence-of><sequence name="ControlPoint"><field name="velocity" type="Int16"/><field name="vehiclePose" type="Pose"/></sequence><sequence-of max="50" min="0" name="StateTrajectory"><field type="StatePoint"/></sequence-of><sequence name="StatePoint"><field name="curvature" type="Int16"/><field name="acceleration" type="Int8"/></sequence><integer max="127" min="-128" name="Int8"/></module>

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<?xml version="1.0" encoding="UTF-8" standalone="no" ?><module asnv-version="1" entry-point="PCIM" name="PCIM" tags="automatic"><sequence name="PCIM"><field name="header" type="ItsPduHeader"/><field name="pcim" type="Pcim"/></sequence><sequence name="ItsPduHeader"><field name="protocolVersion" type="ItsPduHeader$protocolVersion"/><field name="messageID" type="ItsPduHeader$messageID"/><field name="stationID" type="StationID"/></sequence><integer max="255" min="0" name="ItsPduHeader$protocolVersion"/><integer max="255" min="0" name="ItsPduHeader$messageID"><value name="denm" value="1"/><value name="cam" value="2"/><value name="poi" value="3"/><value name="spatem" value="4"/><value name="mapem" value="5"/><value name="ivim" value="6"/><value name="ev_rsr" value="7"/><value name="tistpgtransaction" value="8"/><value name="srem" value="9"/><value name="ssem" value="10"/><value name="evcsn" value="11"/><value name="saem" value="12"/><value name="rtcmem" value="13"/><value name="pcim" value="15"/><value name="pcvm" value="16"/></integer><integer max="4294967295" min="0" name="StationID"/><sequence name="Pcim"><field name="length" type="UInt16"/><field name="rollingCounter" type="UInt16"/><field name="dataID" type="UInt32"/><field name="crc32" type="UInt32"/><field name="vehicles" type="Pcim$vehicles"/></sequence><integer max="65535" min="0" name="UInt16"/><integer max="4294967295" min="0" name="UInt32"/><sequence-of max="32" min="1" name="Pcim$vehicles"><field type="VehicleContainer"/></sequence-of><sequence name="VehicleContainer"><field name="currentSessionID" type="VehicleContainer$currentSessionID"/><field name="currentMissionID" type="VehicleContainer$currentMissionID"/><field name="rollingCounterFromPcvm" type="UInt16"/><field name="vehicleIdentification" optional="true" type="VehicleIdentification"/><field name="drivingPermission" optional="true" type="DrivingPermission"/><field name="driveCommand" type="DriveCommand"/><field name="detectedVehiclePose" optional="true" type="DetectedVehiclePose"/><field name="controlInterface" type="ControlInterface"/><field name="oemSpecific" optional="true" type="UInt16"/></sequence><ia5-string max="17" min="17" name="VehicleContainer$currentSessionID"/><ia5-string max="6" min="6" name="VehicleContainer$currentMissionID"/><sequence name="VehicleIdentification"><field name="seed" type="UInt64"/><field name="codeLength" type="UInt8"/><field name="authorizationState" type="AuthorizationStateEnum"/></sequence><integer max="18446744073709551615" min="0" name="UInt64"/><integer max="255" min="0" name="UInt8"/><enumerated name="AuthorizationStateEnum"><value name="undefined" value="0"/><value name="prepared" value="1"/><value name="successful" value="2"/><value name="authorization_error" value="3"/><value name="new_code" value="4"/></enumerated><sequence name="DrivingPermission"><field name="expirationTime" type="UInt42"/><field name="velocityMax" type="Int16"/><field name="curvatureMin" type="Int16"/><field name="curvatureMax" type="Int16"/></sequence><integer max="4398046511103" min="0" name="UInt42"/><integer max="32767" min="-32768" name="Int16"/><sequence name="DriveCommand"><field name="driveCommandAction" type="DriveCommandActionEnum"/><field name="terminateReason" type="TerminateReasonEnum"/><field name="selectGear" type="SelectGearEnum"/><field name="directionIndicator" type="VehicleDirIndicatorEnum"/><field name="emergencyStop" type="EmergencyStopEnum"/></sequence><enumerated name="DriveCommandActionEnum"><value name="standby" value="0"/><value name="initialize" value="1"/><value name="drive" value="2"/><value name="terminate" value="3"/></enumerated><enumerated name="TerminateReasonEnum"><value name="proceed" value="0"/><value name="destination_reached" value="1"/><value name="infrastructure_error" value="2"/><value name="vehicle_error" value="3"/><value name="backend" value="4"/></enumerated><enumerated name="SelectGearEnum"><value name="neutral" value="0"/><value name="forwards" value="1"/><value name="backwards" value="2"/><value name="park" value="3"/></enumerated><enumerated name="VehicleDirIndicatorEnum"><value name="dir_indicator_off" value="0"/><value name="dir_indicator_right" value="1"/><value name="dir_indicator_left" value="2"/><value name="dir_indicator_both" value="3"/><value name="dir_indicator_unknown" value="4"/></enumerated><enumerated name="EmergencyStopEnum"><value name="inactive" value="0"/><value name="precharge" value="1"/><value name="active" value="2"/></enumerated><sequence name="DetectedVehiclePose"><field name="detectedPose" type="Pose"/><field name="poseMeasurementTime" type="UInt42"/></sequence><sequence name="Pose"><field name="x" type="Int20"/><field name="y" type="Int20"/><field name="psi" type="UInt16"/></sequence><integer max="524287" min="-524288" name="Int20"/><choice name="ControlInterface"><field name="pathSnippet" type="PathSnippet"/><field name="directControl" type="DirectControl"/><field name="trajectoryControl" type="TrajectoryControl"/></choice><sequence-of max="5" min="0" name="PathSnippet"><field type="WayPoint"/></sequence-of><sequence name="WayPoint"><field name="index" type="UInt16"/><field name="wayPointPose" type="Pose"/><field name="velocity" type="Int16"/><field name="curvature" type="Int16"/></sequence><sequence name="DirectControl"><field name="velocityReq" type="Int16"/><field name="curvatureReq" type="Int16"/></sequence><sequence name="TrajectoryControl"><field name="timeReference" type="UInt42"/><field name="controlTrajectory" type="ControlTrajectory"/><field name="stateTrajectory" optional="true" type="StateTrajectory"/></sequence><sequence-of max="50" min="0" name="ControlTrajectory"><field type="ControlPoint"/></sequence-of><sequence name="ControlPoint"><field name="curvature" type="Int16"/><field name="acceleration" type="Int8"/></sequence><integer max="127" min="-128" name="Int8"/><sequence-of max="50" min="0" name="StateTrajectory"><field type="StatePoint"/></sequence-of><sequence name="StatePoint"><field name="statePose" type="Pose"/><field name="velocity" type="Int16"/></sequence></module>

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TrajectoryControl ::= SEQUENCE {

  timeReference Millisecond42,

  controlTrajectory ControlTrajectory,

  stateTrajectory StateTrajectory

  stateTrajectory StateTrajectory OPTIONAL

}  

ControlTrajectory ::= SEQUENCE (SIZE(0..50)) OF ControlPoint

ControlPoint ::= SEQUENCE {

  velocity MetrePerSecond16,  -- Vehicle speed

  vehiclePose Pose 

  curvature PerMetre16,        -- Signed curvature value.

  acceleration MetrePerSqSec8  -- Signed acceleration value. 

}

StateTrajectory ::= SEQUENCE (SIZE(0..50)) OF StatePoint

StatePoint ::= SEQUENCE {

  curvature PerMetre16,        -- Signed curvature value.

  acceleration MetrePerSqSec8  -- Signed acceleration value. 

  statePose Pose,

  velocity MetrePerSecond16  -- Vehicle speed

}

Pose ::= SEQUENCE {