state_message.proto

syntax = "proto3";
 
package state_representation.proto;
 
import "state_representation/state.proto";
import "state_representation/space/spatial_state.proto";
import "state_representation/space/cartesian/cartesian_state.proto";
import "state_representation/space/joint/jacobian.proto";
import "state_representation/space/joint/joint_state.proto";
import "state_representation/geometry/shape.proto";
import "state_representation/geometry/ellipsoid.proto";
import "state_representation/parameters/parameter.proto";
 
message StateMessage {
  oneof message_type {
    State state = 1;
    SpatialState spatial_state = 2;
    CartesianState cartesian_state = 3;
    CartesianPose cartesian_pose = 4;
    CartesianTwist cartesian_twist = 5;
    CartesianAcceleration cartesian_acceleration = 6;
    CartesianWrench cartesian_wrench = 7;
    Jacobian jacobian = 8;
    JointState joint_state = 9;
    JointPositions joint_positions = 10;
    JointVelocities joint_velocities = 11;
    JointAccelerations joint_accelerations = 12;
    JointTorques joint_torques = 13;
    Shape shape = 14;
    Ellipsoid ellipsoid = 15;
    Parameter parameter = 16;
  }
}