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model.proto
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model.proto
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/*
* Copyright (C) 2017 Open Source Robotics Foundation
*
* 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 ignition.msgs;
option java_package = "com.ignition.msgs";
option java_outer_classname = "ModelProtos";
/// \ingroup ignition.msgs
/// \interface Model
/// \brief Information about a model
import "ignition/msgs/axis_aligned_box.proto";
import "ignition/msgs/joint.proto";
import "ignition/msgs/link.proto";
import "ignition/msgs/pose.proto";
import "ignition/msgs/visual.proto";
import "ignition/msgs/vector3d.proto";
import "ignition/msgs/header.proto";
message Model
{
/// \brief Optional header data
Header header = 1;
/// \brief Name of the model.
string name = 2;
/// \brief Unique ID associated with the model
uint32 id = 3;
/// \brief True if the model is statc.
bool is_static = 4;
/// \brief Pose of the model.
Pose pose = 5;
/// \brief Information about the joints in this model.
repeated Joint joint = 6;
/// \brief Information about the links in this model.
repeated Link link = 7;
/// \brief True if the model was deleted.
bool deleted = 8;
/// \brief Information about the visuals in this model.
repeated Visual visual = 9;
/// \brief Scaling factor applied to the model
Vector3d scale = 10;
/// \brief True if self collide is enabled.
bool self_collide = 11;
/// \brief An array of nested models.
repeated Model model = 12;
/// \brief Axis aligned bounding box for the model. The center of the
/// bounding box should coincide with the model's pose.
AxisAlignedBox bounding_box = 13;
}