/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 *
 *     http://www.apache.org/licenses/LICENSE-2.0
 *
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 *
*/

syntax = "proto3";
package gz.msgs;
option java_package = "com.gz.msgs";
option java_outer_classname = "JointProtos";

/// \ingroup gz.msgs
/// \interface Joint
/// \brief Message for creating joint

import "gz/msgs/header.proto";
import "gz/msgs/axis.proto";
import "gz/msgs/pose.proto";
import "gz/msgs/sensor.proto";

message Joint
{

  message Gearbox
  {
    /// \brief Gearbox joint reference body link
    string gearbox_reference_body = 1;

    /// \brief Gearbox ratio.
    double gearbox_ratio = 2;
  }

  message Screw
  {
    /// \brief Screw joint thread pitch.
    double thread_pitch = 1;
  }

  enum Type
  {
    REVOLUTE  = 0;
    REVOLUTE2 = 1;
    PRISMATIC = 2;
    UNIVERSAL = 3;
    BALL      = 4;
    SCREW     = 5;
    GEARBOX   = 6;
    FIXED     = 7;
    CONTINUOUS = 8;
  }

  /// \brief Optional header data
  Header header         = 1;

  string name           = 2;
  uint32 id             = 3;

  Type type             = 4;
  string parent         = 5;
  uint32 parent_id      = 6;
  string child          = 7;
  uint32 child_id       = 8;
  Pose pose             = 9;
  Axis axis1            = 10;
  Axis axis2            = 11;

  double cfm            = 12;
  double bounce         = 13;

  double fudge_factor   = 14;
  double limit_cfm      = 15;
  double limit_erp      = 16;
  double suspension_cfm = 17;
  double suspension_erp = 18;

  Gearbox gearbox       = 19;
  Screw screw           = 20;

  repeated Sensor sensor         = 21;
}