state.proto

syntax = "proto3";
 
package state_representation.proto;
 
// The values and order of this enumeration must match the original
// state_representation::StateType in C++.
enum StateType {
  NONE = 0;
  STATE = 1;
  SPATIAL_STATE = 2;
  CARTESIAN_STATE = 3;
  CARTESIAN_POSE = 4;
  CARTESIAN_TWIST = 5;
  CARTESIAN_ACCELERATION = 6;
  CARTESIAN_WRENCH = 7;
  JOINT_STATE = 8;
  JOINT_POSITIONS = 9;
  JOINT_VELOCITIES = 10;
  JOINT_ACCELERATIONS = 11;
  JOINT_TORQUES = 12;
  JACOBIAN = 13;
  PARAMETER = 14;
  GEOMETRY_SHAPE = 15;
  GEOMETRY_ELLIPSOID = 16;
  TRAJECTORY = 17;
};
 
message State {
  string name = 1;
  StateType type = 2;
  bool empty = 3;
  int64 timestamp = 4;  // timestamp is encoded as nanoseconds since the system steady_clock epoch
}