pose.proto

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/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 * http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *****************************************************************************/
 
syntax = "proto2";
 
package apollo.localization;
 
import "modules/common_msgs/basic_msgs/geometry.proto";
 
message Pose {
  // Position of the vehicle reference point (VRP) in the map reference frame.
  // The VRP is the center of rear axle.
  optional apollo.common.PointENU position = 1;
 
  // A quaternion that represents the rotation from the IMU coordinate
  // (Right/Forward/Up) to the
  // world coordinate (East/North/Up).
  optional apollo.common.Quaternion orientation = 2;
 
  // Linear velocity of the VRP in the map reference frame.
  // East/north/up in meters per second.
  optional apollo.common.Point3D linear_velocity = 3;
 
  // Linear acceleration of the VRP in the map reference frame.
  // East/north/up in meters per square second.
  optional apollo.common.Point3D linear_acceleration = 4;
 
  // Angular velocity of the vehicle in the map reference frame.
  // Around east/north/up axes in radians per second.
  optional apollo.common.Point3D angular_velocity = 5;
 
  // Heading
  // The heading is zero when the car is facing East and positive when facing
  // North.
  optional double heading = 6;
 
  // Linear acceleration of the VRP in the vehicle reference frame.
  // Right/forward/up in meters per square second.
  optional apollo.common.Point3D linear_acceleration_vrf = 7;
 
  // Angular velocity of the VRP in the vehicle reference frame.
  // Around right/forward/up axes in radians per second.
  optional apollo.common.Point3D angular_velocity_vrf = 8;
 
  // Roll/pitch/yaw that represents a rotation with intrinsic sequence z-x-y.
  // in world coordinate (East/North/Up)
  // The roll, in (-pi/2, pi/2), corresponds to a rotation around the y-axis.
  // The pitch, in [-pi, pi), corresponds to a rotation around the x-axis.
  // The yaw, in [-pi, pi), corresponds to a rotation around the z-axis.
  // The direction of rotation follows the right-hand rule.
  optional apollo.common.Point3D euler_angles = 9;
}