syntax = "proto3";

package cmvr.config;

message CartesianLineDeviationCheckConfig {
  bool enable = 1;
  double line_deviation_warn_m = 2;
  double line_deviation_stop_m = 3;
  double line_direction_warn_deg = 4;
  double line_direction_stop_deg = 5;
  double line_direction_reset_deg = 6;
  double line_check_min_distance_m = 7;
}

message JointContinuityCheckConfig {
  bool enable = 1;
  double max_joint_delta_rad = 2;
  double max_joint_velocity_rad_s = 3;
  double max_joint_acceleration_rad_s2 = 4;
}

message JointVelocityCheckConfig {
  bool enable = 1;
  double max_joint_velocity_rad_s = 2;
  double max_joint_acceleration_rad_s2 = 3;
}

message CartesianStepFeasibilityCheckConfig {
  bool enable = 1;
  double min_linear_speed_ratio = 2;
  double max_linear_direction_deviation_deg = 3;
  double min_angular_speed_ratio = 4;
  double max_angular_direction_deviation_deg = 5;
  double min_desired_linear_speed = 6;
  double min_desired_angular_speed = 7;
}

message CartesianVelocityFeasibilityCheckConfig {
  bool enable = 1;
  double min_linear_speed_ratio = 2;
  double max_linear_direction_deviation_deg = 3;
  double min_angular_speed_ratio = 4;
  double max_angular_direction_deviation_deg = 5;
  double min_desired_linear_speed = 6;
  double min_desired_angular_speed = 7;
}