/*
 * 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 = "TrackVisualProtos";

/// \ingroup gz.msgs
/// \interface TrackVisual
/// \brief Message for a tracking a rendering::Visual with a rendering::Camera

import "gz/msgs/vector3d.proto";
import "gz/msgs/header.proto";

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

  /// \brief Name of the visual to track
  string name              = 2;

  /// \brief Id of the visual to track
  uint32 id                = 3;

  /// \brief True to have the tracking camera inherit the orientation of
  /// the tracked visual.
  bool inherit_orientation = 4;

  /// \brief Minimum follow distance
  double min_dist          = 5;

  /// \brief Maximum follow distance
  double max_dist          = 6;

  /// \brief If set to true, the position of the camera is fixed.
  bool static              = 7;

  /// \brief If set to true, the position of the camera is relative to the
  /// model reference frame.
  bool use_model_frame     = 8;

  /// \brief Position of the camera.
  Vector3d xyz             = 9;

  /// \brief If set to true, the camera inherits the yaw rotation of the model.
  bool inherit_yaw         = 10;
}