// 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 = "NavProto";

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

import "bosdyn/api/geometry.proto";

import "google/protobuf/timestamp.proto";


// Route that the robot should follow or is currently following.
message Route {

    // Ordered list of waypoints to traverse, starting from index 0.
    repeated string waypoint_id = 2;

    // Ordered list of edges to traverse between those waypoints.
    repeated Edge.Id edge_id = 3;
}

// The localization state of the robot. This reports the pose of the robot relative
// to a particular waypoint on the graph nav map.
message Localization {
    // Waypoint this localization is relative to.
    string waypoint_id = 1;
    // Pose of body in waypoint frame.
    SE3Pose waypoint_tform_body = 2;
    // Pose of body in a common reference frame. The common reference frame defaults to the starting
    // fiducial frame, but can be changed. See Anchoring for more info.
    SE3Pose seed_tform_body = 5;
    // Time (in robot time basis) that this localization was valid.
    google.protobuf.Timestamp timestamp = 3;

}