speed_command.proto

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syntax = "proto2";
 
package apollo.external_command;
 
import "modules/common_msgs/basic_msgs/header.proto";
 
message SpeedCommand {
  optional apollo.common.Header header = 1;
  // Unique identification for command.
  optional int64 command_id = 2 [default = -1];
  oneof linear_speed {
    // Replace the target speed of current motion command with this new target
    // speed.
    double target_speed = 3;
    // Multiple the target speed in current motion command with the factor. The
    // factor should be in range [0, 1.0].
    double target_speed_factor = 4;
    // Restore the target speed with the initial value(The default configured
    // target speed or set in motion command).
    bool is_restore_target_speed = 5;
  }
}