syntax = "proto3";

import "google/protobuf/timestamp.proto";

package flr_api.v2;

message StateHeader
{
    google.protobuf.Timestamp timestamp = 1;
}

message CmdHeader
{
    google.protobuf.Timestamp timestamp = 1;
}

message Vector3
{
    double x = 1;
    double y = 2;
    double z = 3;
}

message Quaternion
{
    double qx = 1;
    double qy = 2;
    double qz = 3;
    double qw = 4;
}

message Pose
{
    Vector3 translation = 1;
    optional Quaternion rotation = 2; // No value set means identity quaternion
}

message Twist
{
    Vector3 linear = 1;
    Vector3 angular = 2;
}

message Joints
{
    repeated double value = 1;
}