/*
 * 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 = "SphericalCoordinatesProtos";

/// \ingroup gz.msgs
/// \interface SphericalCoordinates
/// \brief Spherical coordinates information

import "gz/msgs/entity.proto";
import "gz/msgs/header.proto";

enum SphericalCoordinatesType
{
  /// \brief Latitude, Longitude and Altitude by SurfaceType
  SPHERICAL = 0;

  /// \brief Earth centered, earth fixed Cartesian
  ECEF = 1;

  /// \brief Local tangent plane (East, North, Up)
  GLOBAL = 2;

  /// \brief Heading-adjusted tangent plane (X, Y, Z)
  /// This has kept a bug for backwards compatibility, use
  /// LOCAL2 for the correct behaviour.
  LOCAL = 3;

  /// \brief Heading-adjusted tangent plane (X, Y, Z)
  LOCAL2 = 4;
}

message SphericalCoordinates
{
  /// \brief Planetary surface models.
  enum SurfaceModel
  {
    /// \brief World Geodetic System 1984
    EARTH_WGS84                   = 0;

    /// \brief Model of the moon, based on the Selenographic
    /// coordinate system, see wikipedia: Selenographic
    /// Coordinate System.
    MOON_SCS                      = 1;

    /// \brief Custom surface type
    CUSTOM_SURFACE                = 2;
  }

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

  /// \brief Planetary surface model.
  SurfaceModel surface_model      = 2;

  /// \brief Latitude in degrees.
  double latitude_deg             = 3;

  /// \brief Longitude in degrees.
  double longitude_deg            = 4;

  /// \brief Elevation in meters.
  double elevation                = 5;

  /// \brief Heading in degrees.
  double heading_deg              = 6;

  /// \brief Entity that the coordinates apply to.
  /// If not set, defaults to the world origin.
  Entity entity                   = 7;

  /// \brief Equatorial axis in meters.
  double surface_axis_equatorial  = 8;

  /// \brief Polar axis in meters.
  double surface_axis_polar       = 9;
}