trajectory.proto

// Copyright (c) 2019 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api;

option java_outer_classname = "TrajectoryProto";
import "bosdyn/api/geometry.proto";

import "google/protobuf/duration.proto";
import "google/protobuf/timestamp.proto";

/// Parameters for how positional trajectories will be interpolated on robot.
enum PositionalInterpolation {
    POS_INTERP_UNKNOWN = 0;
    POS_INTERP_LINEAR = 1;
    POS_INTERP_CUBIC = 2;
}

/// Parameters for how angular trajectories will be interpolated on robot.
enum AngularInterpolation {
    ANG_INTERP_UNKNOWN = 0;
    ANG_INTERP_LINEAR = 1;
    ANG_INTERP_CUBIC_EULER = 2;
}

/// A 3D pose trajectory.
message SE2Trajectory {
    /// The points in trajectory
    repeated SE2TrajectoryPoint points = 1;

    /// A required reference frame of the points in the trajectory..
    Frame frame = 2;

    /// All trajectories specify times relative to this reference time. The reference time should be
    /// in robot clock. If this field is not included, this time will be the receive time of the
    /// command.
    google.protobuf.Timestamp reference_time = 3;

    /// Parameters for how trajectories will be interpolated on robot.
    PositionalInterpolation interpolation = 4;
}

message SE2TrajectoryPoint {
    /// Required pose the robot will try and achieve.
    SE2Pose pose = 1;

    /// The duration to reach the point relative to the trajectory reference time.
    google.protobuf.Duration time_since_reference = 3;
}

/// A 3D pose trajectory.
message SE3Trajectory {
    /// The points in trajectory
    repeated SE3TrajectoryPoint points = 1;

    /// A required reference frame of the points in the trajectory..
    Frame frame = 2;

    /// All trajectories specify times relative to this reference time. The reference time should be
    /// in robot clock. If this field is not included, this time will be the receive time of the
    /// command.
    google.protobuf.Timestamp reference_time = 3;

    /// Parameters for how trajectories will be interpolated on robot.
    PositionalInterpolation pos_interpolation = 4;
    AngularInterpolation ang_interpolation = 5;
}

message SE3TrajectoryPoint {
    /// Required pose the robot will try and achieve.
    SE3Pose pose = 1;

    /// Optional velocity the robot will try and achieve.
    SE3Velocity vel = 2;

    /// The duration to reach the point relative to the trajectory reference time.
    google.protobuf.Duration time_since_reference = 3;

}

/// A 3D point trajectory.
message Vec3Trajectory {
    /// The points in trajectory
    repeated Vec3TrajectoryPoint points = 1;

    /// A required reference frame of the points in the trajectory..
    Frame frame = 2;

    /// All trajectories specify times relative to this reference time. The reference time should be
    /// in robot clock. If this field is not included, this time will be the receive time of the
    /// command.
    google.protobuf.Timestamp reference_time = 3;

    /// Parameters for how trajectories will be interpolated on robot.
    PositionalInterpolation pos_interpolation = 4;

    /// Velocity of the starting point.
    Vec3 starting_velocity = 5;
    /// Velocity of the ending point.
    Vec3 ending_velocity = 6;
}

message Vec3TrajectoryPoint {
    Vec3 point = 1;

    /// These are all optional.  If nothing is specified, good defaults will be chosen
    /// server-side.
    double linear_speed = 4;

    /// The duration to reach the point relative to the trajectory reference time.
    google.protobuf.Duration time_since_reference = 3;

}