Robotics Systems Types

package rst.geometry;

option java_outer_classname = "PolygonalPatch3DType";

import "rst/geometry/Pose.proto";

import "rst/math/Vec2DFloat.proto";

/**

 * A two-dimensional patch in 3D space bounded by a polygon.

 *

 * In contrast to planes (with infinite extend) this kind of bounded

 * patch needs a local coordinate 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 and Y axes of the

 * resulting coordinate system span the plane. Accordingly, the Z axis

 * corresponds to the normal on the plane. The patch border is a 2D

 * polygon defined by a sequence of @ref .math.Vec2DFloat objects.

 *

 * 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.

 *

 * TODO self intersection, convex?

 *

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

 */

message PolygonalPatch3D {

    /**

     * The 6D transformation specifying the base (X and Y axes span

     * the plane in which the patch and its bounding polygon reside).

     */

    required Pose base = 1;

    /**

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

     *

     * TODO winding rule: ccw or cw w.r.t. normal (== Z axis)?

     *

     * Linear segments arise by connecting consecutive entries of the

     * array (including an additional implicit segment connecting the

     * last entry to the first entry).

     *

     * TODO Duplicate entries are not allowed?

     * Order of entries is significant.

     */

    // @constraint(len(value) >= 3)

    repeated math.Vec2DFloat border = 2;

}