85 lines
1.6 KiB
Protocol Buffer
Executable File
85 lines
1.6 KiB
Protocol Buffer
Executable File
// 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";
|
|
|
|
package cartographer.transform.proto;
|
|
|
|
// All coordinates are expressed in the right-handed Cartesian coordinate system
|
|
// used by Cartographer (x forward, y left, z up). Message names are chosen to
|
|
// mirror those used in the Eigen library.
|
|
|
|
message Vector2d {
|
|
double x = 1;
|
|
double y = 2;
|
|
}
|
|
|
|
message Vector2f {
|
|
float x = 1;
|
|
float y = 2;
|
|
}
|
|
|
|
message Vector3d {
|
|
double x = 1;
|
|
double y = 2;
|
|
double z = 3;
|
|
}
|
|
|
|
message Vector3f {
|
|
float x = 1;
|
|
float y = 2;
|
|
float z = 3;
|
|
}
|
|
|
|
message Vector4f {
|
|
float x = 1;
|
|
float y = 2;
|
|
float z = 3;
|
|
float t = 4;
|
|
}
|
|
|
|
message Quaterniond {
|
|
double x = 1;
|
|
double y = 2;
|
|
double z = 3;
|
|
double w = 4;
|
|
}
|
|
|
|
message Quaternionf {
|
|
float x = 1;
|
|
float y = 2;
|
|
float z = 3;
|
|
float w = 4;
|
|
}
|
|
|
|
message Rigid2d {
|
|
Vector2d translation = 1;
|
|
double rotation = 2;
|
|
}
|
|
|
|
message Rigid2f {
|
|
Vector2f translation = 1;
|
|
float rotation = 2;
|
|
}
|
|
|
|
message Rigid3d {
|
|
Vector3d translation = 1;
|
|
Quaterniond rotation = 2;
|
|
}
|
|
|
|
message Rigid3f {
|
|
Vector3f translation = 1;
|
|
Quaternionf rotation = 2;
|
|
}
|