85 lines
1.8 KiB
Protocol Buffer
85 lines
1.8 KiB
Protocol Buffer
syntax = "proto2";
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package geometry;
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message Vector3 {
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optional double x = 1;
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optional double y = 2;
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optional double z = 3;
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}
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message Vector3f {
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optional float x = 1;
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optional float y = 2;
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optional float z = 3;
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}
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message Point2D {
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optional double x = 1 [default = nan];
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optional double y = 2 [default = nan];
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}
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message Point3D {
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optional double x = 1 [default = nan];
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optional double y = 2 [default = nan];
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optional double z = 3 [default = nan];
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}
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message Trace {
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optional double timestamp = 1;
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optional Point3D position = 2;
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optional Point3D velocity = 3;
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optional Point3D acceleration = 4;
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optional Point3D heading = 5;
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}
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message PointLLH {
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// Longitude in degrees, ranging from -180 to 180.
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optional double lon = 1 [default = nan];
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// Latitude in degrees, ranging from -90 to 90.
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optional double lat = 2 [default = nan];
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// WGS-84 ellipsoid height in meters.
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optional double height = 3 [default = 0.0];
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}
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message Point {
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optional double x = 1;
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optional double y = 2;
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optional double z = 3;
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}
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message Quaternion {
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optional double x = 1 [default = nan];
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optional double y = 2 [default = nan];
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optional double z = 3 [default = nan];;
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optional double w = 4 [default = nan];
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}
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message Polygon {
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repeated Point points = 1;
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}
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message Transform {
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optional Vector3 translation = 1;
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optional Quaternion rotation = 2;
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}
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//pose in free space, composed of position and orientation
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message Pose {
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optional Point position = 1;
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optional Quaternion orientation = 2;
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}
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//acceleration in free space broken into its linear and angular parts
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message Accel {
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optional Vector3 linear = 1;
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optional Vector3 angular = 2;
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}
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//velocity in free space broken into its linear and angular parts
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message Twist {
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optional Vector3 linear = 1;
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optional Vector3 angular = 2;
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}
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