syntax = "proto3";
// Protocol buffers allow the motion planning
// library to be extensible, with managed forward
// and backward compatibility, and structured
// serialization, both binary and JSON.
//
// Note that in 'proto3', all fields are optional
// by default. So if, for example, the 'path' has
// not been computed, it is just an 'empty list'.
package sdmp;
message MotionPlan {
oneof Droid {
BB8 bb8 = 1;
}
oneof Bounds {
Rectangle rectangle = 2;
}
repeated Obstacle obstacle = 3;
repeated Coordinates path = 4;
}
// Specific message types used above.
//
// For more complex message types, we would
// break this into multiple files.
//
// Also, we would make the 'path' a little
// more general, allowing curves and straight
// line segments... but that's for future work.
message BB8 {
double radius = 1;
}
message Rectangle {
double length = 1; // also called 'm', the 'x' direction
double width = 2; // also called 'n', the 'y' direction
}
message Circle {
double radius = 1;
Coordinates coordinates = 2;
}
message Obstacle {
oneof Type {
Circle circle = 1;
}
}
message Coordinates {
double x = 1;
double y = 2;
}
// Done
