Robotics Systems Types

package rst.tracking;

import "rst/tracking/TrackingInfo.proto";

import "rst/geometry/Pose.proto";

option java_outer_classname = "TrackedPoseType";

/**

 * Pose of a tracked subject in three-dimensional space.

 *

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

 */

message TrackedPose {

    /**

     * Tracking information such as identity of the subject being

     * tracked.

     */

    required TrackingInfo info = 1;

    /**

     * Pose of the tracked subject identified by @ref .info in

     * three-dimensional space.

     */

    required geometry.Pose pose = 2;

    /**

     * Confidence in the correctness of the translation stored in @ref

     * .pose.

     */

    //@constraint(0 <= value <= 1)

    optional float confidence_pos = 3;

    /**

     * Confidence in the correctness of the rotation stored in @ref

     * .pose.

     */

    //@constraint(0 <= value <= 1)

    optional float confidence_rot = 4;

}