motion_service.proto

浏览该文件的文档.

syntax = "proto2";
 
package apollo.perception;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
message MotionType {
  optional float m00 = 1;
  optional float m01 = 2;
  optional float m02 = 3;
  optional float m03 = 4;
  optional float m10 = 5;
  optional float m11 = 6;
  optional float m12 = 7;
  optional float m13 = 8;
  optional float m20 = 9;
  optional float m21 = 10;
  optional float m22 = 11;
  optional float m23 = 12;
  optional float m30 = 13;
  optional float m31 = 14;
  optional float m32 = 15;
  optional float m33 = 16;
}
 
message VehicleStatus {
  optional float roll_rate = 1;
  optional float pitch_rate = 2;
  optional float yaw_rate = 3;
  optional float velocity = 4;
  optional float velocity_x = 5;
  optional float velocity_y = 6;
  optional float velocity_z = 7;
  optional double time_ts = 8;  // time stamp
  optional double time_d = 9;
  optional MotionType motion = 10;
}
 
message MotionService {
  repeated VehicleStatus vehicle_status =
      1;  // An array of vehicle_information stored for previous timestamps
  optional apollo.common.Header header = 2;  // Header
}