From b275cf41b82a31aab05201cd5cedf066fda24cdb Mon Sep 17 00:00:00 2001 From: mgoerlic Date: Wed, 27 Jan 2016 18:45:59 +0100 Subject: [PATCH] Added name and rotation to rst.kinematics.Posture3DFloat --- proto/stable/rst/kinematics/Posture3DFloat.proto | 18 ++++++++++++++++++ 1 file changed, 18 insertions(+) diff --git a/proto/stable/rst/kinematics/Posture3DFloat.proto b/proto/stable/rst/kinematics/Posture3DFloat.proto index 6dafa09..a8d0c95 100644 --- a/proto/stable/rst/kinematics/Posture3DFloat.proto +++ b/proto/stable/rst/kinematics/Posture3DFloat.proto @@ -13,6 +13,8 @@ option java_outer_classname = "Posture3DFloatType"; * * @author Jan Moringen */ +// @constraint((len(.rotation) = 0) or (len(.rotation) = len(.position))) +// @constraint((len(.name) = 0) or (len(.name) = len(.position))) // @create_collection message Posture3DFloat { @@ -28,4 +30,20 @@ message Posture3DFloat { */ repeated geometry.Translation position = 2; + /** + * Sequence of joint rotations in three-dimensional space. + * + * Interpretation depends on information transmitted trough other + * channels. + * + * The order of entries is significant since they are related to + * their @ref .position. + */ + repeated geometry.Rotation rotation = 3; + + /** + * Names of the individual positions stored in @ref .posture. + */ + repeated bytes name = 4; } + -- 1.9.1