// Copyright 2016 The Cartographer Authors
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//      http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.

syntax = "proto3";

import "cartographer/transform/proto/transform.proto";

package cartographer.mapping.proto;

message SubmapList {
  message SubmapEntry {
    int32 submap_version = 1;
    transform.proto.Rigid3d pose = 3;
  }

  message TrajectorySubmapList {
    repeated SubmapEntry submap = 1;
  }

  repeated TrajectorySubmapList trajectory = 2;
}

message SubmapQuery {
  message Request {
    // Index into 'SubmapList.trajectory(trajectory_id).submap'.
    int32 submap_index = 1;
    // Index into 'TrajectoryList.trajectory'.
    int32 trajectory_id = 2;
  }

  message Response {
    // Version of the given submap, higher means newer.
    int32 submap_version = 2;

    // Texture that visualizes a grid of a submap.
    message SubmapTexture {
      // GZipped map data, in row-major order, starting with (0,0). Each cell
      // consists of two bytes: value (premultiplied by alpha) and alpha.
      bytes cells = 1;

      // Dimensions of the grid in cells.
      int32 width = 2;
      int32 height = 3;

      // Size of one cell in meters.
      double resolution = 4;

      // Pose of the resolution*width x resolution*height rectangle in the
      // submap frame.
      transform.proto.Rigid3d slice_pose = 5;
    }

    // When multiple textures are present, high resolution comes first.
    repeated SubmapTexture textures = 10;

    // Error message in response to malformed requests.
    string error_message = 8;
  }

  Request request = 1;
  Response response = 2;
}