// Copyright (c) 2022 Boston Dynamics, Inc.  All rights reserved.
//
// Downloading, reproducing, distributing or otherwise using the SDK Software
// is subject to the terms and conditions of the Boston Dynamics Software
// Development Kit License (20191101-BDSDK-SL).

syntax = "proto3";

package bosdyn.api.graph_nav;

option java_outer_classname = "MapProcessingServiceProto";

import "bosdyn/api/graph_nav/map_processing.proto";

// Defines services for processing an existing GraphNav map.
service MapProcessingService {

    // Processes a GraphNav map by creating additional edges or waypoints. After processing,
    // a new subgraph is created containing additional waypoints or edges to add to the map.
    rpc ProcessTopology(ProcessTopologyRequest) returns (stream ProcessTopologyResponse) {}

    // Processes a GraphNav map by modifying the anchoring of waypoints and world objects in the map
    // with respect to a seed frame. After processing, a new anchoring is streamed back.
    rpc ProcessAnchoring(ProcessAnchoringRequest) returns (stream ProcessAnchoringResponse) {}
}