Robotics Systems Types

package rst.geometry;

option java_outer_classname = "PlanePatchType";

import "rst/geometry/Pose.proto";

import "rst/geometry/PointCloud2DInt.proto";

/**

 * Defines a bounded plane patch in 3D space.

 * In contrast to other definitions for regular planes (with infinite extend)

 * this kind of bounded patch needs a local coodinate system in order to

 * define the borders of the patch. Thus, instead of the widely used point-normal

 * representation, we use a complete 6D pose or describing the location of the

 * plane. We define that the x-y axes of the resulting CS span the plane.

 * Accordingly, the z axis represents the normal on the plane.

 * The patch borders are represented by a 2D polygon defined by the

 * PointCloud2DInt type. In order to construct a 3D representation of the patch,

 * the 2D coordinates of the polygon must be extended by a z=0 coordinate and

 * transformed using the 6D pose.

 *

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

 */

message PlanePatch {

    /**

     * The 6D transformation defining the infinite plane (x-y axes span plane).

     */

    required Pose plane = 1;

    /**

     * The 2D polygon defining the borders of the patch.

     */

    required PointCloud2DInt polygon = 2;

}