vehicle_state.proto

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syntax = "proto2";
 
package apollo.common;
 
import "modules/common_msgs/chassis_msgs/chassis.proto";
import "modules/common_msgs/localization_msgs/pose.proto";
 
message VehicleState {
  optional double x = 1 [default = 0.0];
  optional double y = 2 [default = 0.0];
  optional double z = 3 [default = 0.0];
  optional double timestamp = 4 [default = 0.0];
  optional double roll = 5 [default = 0.0];
  optional double pitch = 6 [default = 0.0];
  optional double yaw = 7 [default = 0.0];
  optional double heading = 8 [default = 0.0];
  optional double kappa = 9 [default = 0.0];
  optional double linear_velocity = 10 [default = 0.0];
  optional double angular_velocity = 11 [default = 0.0];
  optional double linear_acceleration = 12 [default = 0.0];
  optional apollo.canbus.Chassis.GearPosition gear = 13;
  optional apollo.canbus.Chassis.DrivingMode driving_mode = 14;
  optional apollo.localization.Pose pose = 15;
  optional double steering_percentage = 16;
}