/*
 * 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 = "LinkProtos";

/// \ingroup gz.msgs
/// \interface Link
/// \brief Information about a link

import "gz/msgs/inertial.proto";
import "gz/msgs/collision.proto";
import "gz/msgs/visual.proto";
import "gz/msgs/light.proto";
import "gz/msgs/sensor.proto";
import "gz/msgs/particle_emitter.proto";
import "gz/msgs/projector.proto";
import "gz/msgs/pose.proto";
import "gz/msgs/battery.proto";
import "gz/msgs/density.proto";
import "gz/msgs/header.proto";

message Link
{
  /// \brief Optional header data
  Header header        = 1;

  uint32 id            = 2;
  string name          = 3;
  bool self_collide    = 4;
  bool gravity         = 5;
  bool kinematic       = 6;
  bool enabled         = 7;
  Density density      = 8;
  Inertial inertial    = 9;
  Pose pose            = 10;
  repeated Visual visual        = 11;
  repeated Collision collision  = 12;
  repeated Sensor sensor        = 13;
  repeated Projector projector  = 14;
  bool canonical       = 15;

  /// \brief A vector of batteries attached to this link.
  repeated Battery battery      = 16;

  /// \brief A vector of lights attached to this link
  repeated Light light          = 17;

  /// \brief A vector of particle emitters attached to this link.
  repeated ParticleEmitter particle_emitter = 18;
}