syntax = "proto3";

package cmvr.config;

import "cmvr/common/geometry.proto";
import "cmvr/config/touch_screen_common_config.proto";

message TouchScreenApriltagConfig {
  optional double tag_size_m = 1;
  optional TouchScreenDepthPolicy depth_policy = 2;
  optional TouchScreenTargetPointMethod target_point_method = 3;
}

message TouchScreenTaskPbvsConfig {
  .cmvr.common.Vec3 position_gain = 1;
  .cmvr.common.Vec3 rotation_gain = 2;
  .cmvr.common.Vec6 vmax6 = 3;
  .cmvr.common.Vec6 amax6 = 4;
  optional double twist_filter_alpha = 5;
}