80 lines
1.5 KiB
Protocol Buffer
80 lines
1.5 KiB
Protocol Buffer
syntax = "proto3";
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package cmvr.common;
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message Vec2 {
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optional double x = 1;
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optional double y = 2;
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}
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message Vec3 {
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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 Vec6 {
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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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optional double rx = 4;
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optional double ry = 5;
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optional double rz = 6;
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}
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message Quat {
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optional double w = 1;
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optional double x = 2;
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optional double y = 3;
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optional double z = 4;
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}
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message Euler {
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optional double rx = 1;
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optional double ry = 2;
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optional double rz = 3;
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}
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message Pose3d {
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Vec3 position = 1;
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Quat quaternion = 2;
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Euler euler = 3;
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}
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message Pose2d {
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optional double x = 1;
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optional double y = 2;
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optional double theta = 3;
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}
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message Mat3 {
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optional double m00 = 1;
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optional double m01 = 2;
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optional double m02 = 3;
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optional double m10 = 4;
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optional double m11 = 5;
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optional double m12 = 6;
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optional double m20 = 7;
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optional double m21 = 8;
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optional double m22 = 9;
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}
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message Mat4 {
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optional double m00 = 1;
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optional double m01 = 2;
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optional double m02 = 3;
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optional double m03 = 4;
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optional double m10 = 5;
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optional double m11 = 6;
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optional double m12 = 7;
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optional double m13 = 8;
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optional double m20 = 9;
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optional double m21 = 10;
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optional double m22 = 11;
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optional double m23 = 12;
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optional double m30 = 13;
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optional double m31 = 14;
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optional double m32 = 15;
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optional double m33 = 16;
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}
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