From d44ee5e71fe0cc8467f322882e7714a41ad2a574 Mon Sep 17 00:00:00 2001 From: Leon Ziegler Date: Thu, 6 Mar 2014 15:53:12 +0100 Subject: [PATCH 4/8] added new type Legs --- proto/sandbox/rst/hri/Legs.proto | 47 ++++++++++++++++++++++++++++++++++++++ 1 file changed, 47 insertions(+) create mode 100644 proto/sandbox/rst/hri/Legs.proto diff --git a/proto/sandbox/rst/hri/Legs.proto b/proto/sandbox/rst/hri/Legs.proto new file mode 100644 index 0000000..18edb78 --- /dev/null +++ b/proto/sandbox/rst/hri/Legs.proto @@ -0,0 +1,47 @@ +package rst.hri; + +option java_outer_classname = "LegsType"; + +/** + * A representation of a pair of legs (or a single leg). + * + * The @ref .pair data field indicates whether or not this object is merged with + * another object of the same field into a representation of a pair of legs. + * The values stored in @ref .angle and @ref .distance are as perceived from the + * robot. + * + * @author Phillip Luecking + */ +message Legs { + + /** + * The angle of the leg(s) as perceived by the robots sensor. + */ + // @unit(radian) + required float angle = 1; + + /** + * The variance of the @ref .angle. + */ + // @unit(radian) + required float angle_variance = 2; + + /** + * The distance between the robot's sensor and the leg(s). + */ + // @unit(meter) + required float distance = 3; + + /** + * The variance of the @ref .distance. + */ + // @unit(meter) + required float distance_variance = 4; + + /** + * Indicates whether or not this object consists of two merged Legs. If true, + * merging is no longer possible. + */ + required bool pair = 5; +} + -- 1.7.9.5