trajectory.proto

syntax = "proto3";

package plan;

message Trajectory {

  message Position {
    double x = 1;
    double y = 2;
    double z = 3;
  }

  message Orientation {
    double x = 1;
    double y = 2;
    double z = 3;
    double w = 4;
  }

  enum PlanningMode {
    FLUID = 0;
    CARTESIAN = 1;
  }

  message Pose {
    Position position = 1;
    Orientation orientation = 2;
    PlanningMode mode = 3;
  }

  repeated Pose pose = 1;
  bool loop = 2;
}