From 2248de552851283d9108f8842840708afdd61e32 Mon Sep 17 00:00:00 2001 From: Daniel Seidel Date: Tue, 18 Jun 2013 13:02:40 +0200 Subject: [PATCH] added new rst type 'Collision' to sandbox --- proto/sandbox/rst/robot/Collision.proto | 29 +++++++++++++++++++++++++++++ 1 file changed, 29 insertions(+) create mode 100644 proto/sandbox/rst/robot/Collision.proto diff --git a/proto/sandbox/rst/robot/Collision.proto b/proto/sandbox/rst/robot/Collision.proto new file mode 100644 index 0000000..083abe1 --- /dev/null +++ b/proto/sandbox/rst/robot/Collision.proto @@ -0,0 +1,29 @@ +package rst.robot; + +import "rst/geometry/Translation.proto"; +import "rst/geometry/Rotation.proto"; + +option java_outer_classname = "CollisionType"; + + + +// Holds information about a collision between two objects +message Collision { + // Possible kinds of collisions. Collision can be either a self collision, + // an external collision (e.g. a robot part with an object of the environment) + // or of unknown type + enum CollisionKind{ + SELFCOLLISION = 1; + EXTERNAL = 2; + UNKNOWN = 3; + } + + required CollisionKind collisionKind = 1; + + // contact points in world coordinate system, where the collision occured + repeated geometry.Translation contactPoints = 2; + + // names of the colliding objects + optional string objectID1 = 3; + optional string objectID2 = 4; +} -- 1.7.9.5