syntax = "proto3";
package aimdk.protocol;

import public "aimdk/protocol/common/se3_pose.proto";
import public "aimdk/protocol/common/se3_trajectory.proto";

/**
 * @brief 逆向运动请求
 */
message FootKinematics {
  enum Type {
    UNKNOWN = 0;
    LEFT = 1;
    RIGHT = 2;
  }

  Type type = 1;
  SE3Pose pose = 2;         // body frame, xyz
  SE3Velocity velocity = 3; // body frame, m/s
  double contact_phase = 4; // 0.0~1.0 : 0:swing; 1:contact
}

message FootKinematicsData {
  // 一般情况下，存在2个数据，一个是左脚，一个是右脚
  repeated FootKinematics foot = 1;
}
