syntax = "proto3";

package aimdk.protocol;

import "aimdk/protocol/common/header.proto";
import "aimdk/protocol/common/se3_pose.proto";
import "aimdk/protocol/common/timestamp.proto";

message GetTransFormationReq {
  RequestHeader header = 1;
  string target_frame = 2;
  string source_frame = 3;
}

message GetTransFormationRsp {
  ResponseHeader header = 1;
  TransformStamped transform_stamped = 2;
}

message TsHeader {
  Timestamp stamp = 1;
  string frame_id = 2;
}

// Define the TransformStamped message
message TransformStamped {
  TsHeader header = 1;
  string child_frame_id = 2;
  SE3Pose transform = 3;
}

service TransFormService {
  rpc GetTransFormation(GetTransFormationReq) returns (GetTransFormationRsp);
}
