Robotics Systems Types

package rst.navigation;

import "rst/geometry/Pose.proto";

option java_outer_classname = "OccupancyGridIntType";

/**

 * This represents a 2-D grid map, in which each cell represents the

 * probability of occupancy. This kind of representation id often used

 * in SLAM implementations.

 *

 * @author Leon Ziegler <lziegler@techfak.uni-bielefeld.de>

 */

message OccupancyGridInt {

    /**

     * The map resolution as edge length of a cell.

     */

    // @unit(meter)

    required float resolution = 1;

    /**

     * Number of cells in x direction.

     */

    required uint32 width = 2;

    /**

     * Number of cells in y direction.

     */

    required uint32 height = 3;

    /**

     * The origin of the map. This is the real-world pose of the cell

     * (0,0) in the map. The grid is defined in the x-y plane given by

     * this pose.

     */

    required rst.geometry.Pose origin = 4;

    /**

     * The map data, in row-major order, starting with (0,0). Occupancy

     * probabilities are signed 8-bit integer in the range [0,100].

     * Unknown is -1.

     */

    required bytes map = 5;

}