From 3e5810a0c94c259ef6e651c1b028782ee7ec1c51 Mon Sep 17 00:00:00 2001
From: Leon Ziegler <lziegler@techfak.uni-bielefeld.de>
Date: Thu, 13 Mar 2014 16:49:21 +0100
Subject: [PATCH 12/12] Changed type PersonHypothesis according to results
 from rst meeting on 2014-03-12

---
 proto/sandbox/rst/hri/PersonHypothesis.proto |   65 +++++++++++++++++---------
 1 file changed, 42 insertions(+), 23 deletions(-)

diff --git a/proto/sandbox/rst/hri/PersonHypothesis.proto b/proto/sandbox/rst/hri/PersonHypothesis.proto
index 198b6d8..adcf0c0 100644
--- a/proto/sandbox/rst/hri/PersonHypothesis.proto
+++ b/proto/sandbox/rst/hri/PersonHypothesis.proto
@@ -1,7 +1,8 @@
 package rst.hri;
 
-import "rst/math/Vec2DFloat.proto";
-import "rst/vision/Face.proto";
+import "rst/geometry/Translation.proto";
+import "rst/geometry/Rotation.proto";
+import "rst/vision/LocatedFace.proto";
 import "rst/tracking/TrackingInfo.proto";
 
 option java_outer_classname = "PersonHypothesisType";
@@ -19,38 +20,56 @@ message PersonHypothesis {
      */
     optional tracking.TrackingInfo tracking_info = 1;
 
-    optional vision.Face face = 3;
+    /**
+     * The person's face.
+     */
+    optional vision.LocatedFace face = 3;
+
+    /**
+     * Location of the person in 3D space.
+     */
+    required geometry.Translation location = 10;
+
+    /**
+     * Orientation of the person.
+     */
+    optional geometry.Rotation orientation = 20;
+
+    /**
+     * Height of the person (from the ground).
+     */
+    // @unit(meter)
+    optional float height = 30;
 
     /**
-     * Direction of the human in a coordinate system the origin of
-     * which is the robot's head.
-     *
-     * @todo "Rename this field to something more descriptive"
+     * Depth of the person (along the orientation axis projected onto the ground).
      */
-    optional math.Vec2DFloat rhc_direction = 10;
+    // @unit(meter)
+    optional float depth = 31;
 
     /**
-     * Direction of the human in a coordinate system the origin of
-     * which is the robot's body.
-     *
-     * @todo "Rename; see above."
+     * Width of the person (orthogonal to the orientation axis projected onto the ground).
      */
-    optional math.Vec2DFloat rbc_direction = 20;
+    // @unit(meter)
+    optional float width = 32;
 
     /**
-     * Direction the human is looking.
-     *
-     * @todo "Clarify"
+     * The person's age.
      */
-    optional math.Vec2DFloat human_head_direction = 30;
+    optional int32 age = 40;
 
     /**
-     * Results from the identity recognizer.
-     *
-     * @todo "Describe what these mean, not where they come from."
+     * The person's name.
      */
-    optional bytes age = 40;
-    optional bytes gender = 42;
-    optional bytes identity = 44;
+    optional string name = 42;
 
+    enum Gender {
+        MALE = 1;
+        FEMALE = 2;
+    }
+
+    /**
+     * The person's gender.
+     */
+    optional Gender gender = 44;
 }
-- 
1.7.9.5