Robotics Systems Types

package rst.navigation;

import "rst/geometry/Pose.proto";

option java_outer_classname = "OccupancyGrid2DIntType";

/**

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

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

 * in SLAM implementations.

 *

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

 */

message OccupancyGrid2DInt {

    /**

     * 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, therefore the rotation defines the orientation of the 2D grid

     * in the real three-dimensional world. If the floor is defined as the x-y

     * plane in world coordinates, the pose should only contain a rotation

     * around the z-axis.

     */

    required rst.geometry.Pose origin = 4;

    /**

     * The map data, in row-major order. Occupancy probabilities are signed

     * 8-bit integer with big endian byte order in the range [0,100].

     * Unknown is -1.

     */

    // @constraint(len(value) = (.width * .height))

    required bytes map = 5;

}