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| /* | ||
| * Copyright (C) 2022 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 = "OdometryWithCovarianceProtos"; | ||
|
|
||
| /// \ingroup ignition.msgs | ||
| /// \interface OdometryWithCovariance | ||
| /// \brief Message for odometry with covariance | ||
|
|
||
| import "ignition/msgs/header.proto"; | ||
| import "ignition/msgs/pose_with_covariance.proto"; | ||
| import "ignition/msgs/twist_with_covariance.proto"; | ||
|
|
||
| message OdometryWithCovariance | ||
| { | ||
| /// \brief Optional header data. | ||
| Header header = 1; | ||
|
|
||
| /// \brief Estimated pose. | ||
| PoseWithCovariance pose_with_covariance = 2; | ||
|
|
||
| /// \brief Estimated linear and angular velocities. | ||
| TwistWithCovariance twist_with_covariance = 3; | ||
| } |
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| /* | ||
| * Copyright (C) 2022 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 = "PoseWithCovarianceProtos"; | ||
|
|
||
| /// \ingroup ignition.msgs | ||
| /// \interface PoseWithCovariance | ||
| /// \brief Message with pose and a covariance matrix | ||
|
|
||
| import "ignition/msgs/float_v.proto"; | ||
| import "ignition/msgs/pose.proto"; | ||
|
|
||
| message PoseWithCovariance | ||
| { | ||
| /// \brief Pose message. | ||
| Pose pose = 1; | ||
|
|
||
| /// \brief Row-major representation of the 6x6 covariance matrix | ||
| /// The orientation parameters use a fixed-axis representation. | ||
| /// In order, the parameters are: | ||
| /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis) | ||
| Float_V covariance = 2; | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,40 @@ | ||
| /* | ||
| * Copyright (C) 2022 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 = "TwistWithCovarianceProtos"; | ||
|
|
||
| /// \ingroup ignition.msgs | ||
| /// \interface TwistWithCovariance | ||
| /// \brief Message with twist and a covariance matrix | ||
|
|
||
| import "ignition/msgs/float_v.proto"; | ||
| import "ignition/msgs/twist.proto"; | ||
|
|
||
| message TwistWithCovariance | ||
| { | ||
| /// \brief Twist message. | ||
| Twist twist = 1; | ||
|
|
||
| /// \brief Row-major representation of the 6x6 covariance matrix | ||
| /// The orientation parameters use a fixed-axis representation. | ||
| /// In order, the parameters are: | ||
| /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis) | ||
| Float_V covariance = 2; | ||
| } |
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| /* | ||
| * Copyright (C) 2022 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 = "WheelSlipParametersCmd"; | ||
|
|
||
| /// \ingroup ignition.msgs | ||
| /// \interface WheelSlipParametersCmd | ||
| /// \brief Message containing a wheel slip parameters user command. | ||
|
|
||
| import "ignition/msgs/entity.proto"; | ||
| import "ignition/msgs/header.proto"; | ||
|
|
||
| message WheelSlipParametersCmd | ||
| { | ||
| /// \brief Optional header data | ||
| Header header = 1; | ||
|
|
||
| /// \brief Entity which wheel slip parameters are going to be modified. | ||
| /// | ||
| /// The entity might be a model with at least one link or a link. | ||
| /// If the entity is a model, the wheel slip parameters of all its | ||
| /// links will be updated. | ||
| /// | ||
| /// The entity name (entity.name) will be used as an scoped name. | ||
| /// For example, in this | ||
| /// hierarchy: | ||
| /// | ||
| /// world_name | ||
| /// model_name | ||
| /// link_name | ||
| /// | ||
| /// All these names will return the link entity: | ||
| /// | ||
| /// * world_name::model_name::link_name | ||
| /// * model_name::link_name | ||
| /// * link_name | ||
| Entity entity = 2; | ||
|
|
||
| /// \brief Unitless lateral slip ratio. | ||
| /// | ||
| /// See https://en.wikipedia.org/wiki/Slip_(vehicle_dynamics). | ||
| /// to tangential force ratio (tangential / normal force). | ||
| /// At each time step, these compliances are multiplied by | ||
| /// the linear wheel spin velocity and divided by the wheel normal force | ||
| /// parameter specified in the sdf. | ||
| double slip_compliance_lateral = 4; | ||
| /// \brief Unitless longitudinal slip ratio. | ||
| /// | ||
| /// See https://en.wikipedia.org/wiki/Slip_(vehicle_dynamics). | ||
| /// to tangential force ratio (tangential / normal force). | ||
| /// At each time step, these compliances are multiplied by | ||
| /// the linear wheel spin velocity and divided by the wheel normal force | ||
| /// parameter specified in the sdf. | ||
| double slip_compliance_longitudinal = 5; | ||
| } |