Robotics Systems Types

package rst.hri;

option java_outer_classname = "LegsType";

/**

 * A representation of a pair of legs (or a single leg).

 *

 * The @ref .pair data field indicates whether or not this object is merged with

 * another object of the same field into a representation of a pair of legs.

 * The values stored in @ref .angle and @ref .distance are as perceived from the

 * robot.

 *

 * @author Phillip Luecking <plueckin@techfak.uni-bielefeld.de>

 */

message Legs {

    /**

     * The angle of the leg(s) as perceived by the robots sensor.

     */

    // @unit(radian)

    required float angle = 1;

    /**

     * The variance of the @ref .angle.

     */

    // @unit(radian)

    required float angle_variance = 2;

    /**

     * The distance between the robot's sensor and the leg(s).

     */

    // @unit(meter)

    required float distance = 3;

    /**

     * The variance of the @ref .distance.

     */

    // @unit(meter)

    required float distance_variance = 4;

    /**

     * Indicates whether or not this object consists of two merged Legs. If true,

     * merging is no longer possible.

     */

    required bool pair = 5;

}