52 lines
865 B
Protocol Buffer
52 lines
865 B
Protocol Buffer
syntax = "proto3";
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package cmvr.msgs;
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message Vec2 {
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double x = 1;
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double y = 2;
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}
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message Vec3 {
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double x = 1;
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double y = 2;
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double z = 3;
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}
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// ===== 四元数 =====
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message Quat {
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double w = 1;
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double x = 2;
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double y = 3;
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double z = 4;
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}
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// ===== 位置（3D）=====
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message Position {
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double x = 1; // unit: m
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double y = 2;
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double z = 3;
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}
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// ===== 欧拉角 =====
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message Euler {
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double rx = 1; // unit: rad (roll)
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double ry = 2; // unit: rad (pitch)
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double rz = 3; // unit: rad (yaw)
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}
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// ===== 位姿（3D）=====
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message Pose3d {
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Position position = 1; // (m)
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Quat quaternion = 2; // 四元数
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Euler euler = 3; // 欧拉角 (rad)
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}
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// ===== 位姿（2D）=====
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message Pose2d {
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double x = 1; // (m)
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double y = 2; // (m)
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double theta = 3; // (rad)
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}
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