syntax = "proto3";
package aimdk.protocol;

/**
 * Scalar轨迹点
 */
message ScalarTrajectoryPoint {
  double time_since_reference = 1;   /**< time since reference. Unit s. */
  repeated double positions = 2;     /**< The position of the trajectory. Unit rad or m. */
  repeated double velocities = 3;    /**< The velocity of the trajectory. Unit rad/s or m/s. */
  repeated double accelerations = 4; /**< The acceleration of the trajectory. Unit rad/s^2 or m/s^2. */
}

/**
 * Scalar轨迹
 */
message ScalarTrajectory {
  double reference_time = 1;                 /**< All trajectories specify times relative to this reference time. */
  repeated ScalarTrajectoryPoint points = 2; /**< The trajectory points. */
}
