syntax = "proto3";
package aimdk.protocol;

import public "aimdk/protocol/common/se3_acceleration.proto";
import public "aimdk/protocol/common/se3_velocity.proto";
import public "aimdk/protocol/common/se3_pose.proto";
import public "aimdk/protocol/common/timestamp.proto";

/**
 * SE3轨迹点
 */
message SE3TrajectoryPoint {
  double time_since_reference = 1;  /**< time since reference. Unit s. */
  SE3Pose pose = 2;                 /**< The se3 pose of the trajectory. */
  SE3Velocity velocity = 3;         /**< The se3 velocity of the trajectory. */
  SE3Acceleration acceleration = 4; /**< The se3 acceleration of the trajectory. */
}

/**
 * SE3轨迹
 */
message SE3Trajectory {
  double reference_time = 1;              /**< time since reference. Unit s. */
  repeated SE3TrajectoryPoint points = 2; /**< The se3 trajectory points. */
}
