// 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;

option java_outer_classname = "StairsProto";

import "bosdyn/api/geometry.proto";

message StairTransform {
    // The staircase origin is the bottom-center of the first rise.
    bosdyn.api.SE3Pose frame_tform_stairs = 1;
    string frame_name = 2;
}

message StraightStaircase {
    // The staircase origin is the bottom-center of the first rise.
    oneof location {
        // It is expressed in ko frame of the from_waypoint.
        // This field is only used in GraphNav.
        bosdyn.api.SE3Pose from_ko_tform_stairs = 1;

        // Outside GraphNav, this field specifies the stair origin.
        StairTransform tform = 5;
    }

    // A single stair from a staircase.
    message Stair {
        // Height of each stair.
        float rise = 1;
        // Depth of each stair.
        float run = 2;
    }
    // Straight staircases have two landings, one at the top and one at the bottom.
    // Landings are areas of free space before and after the stairs, and are represented
    // as oriented bounding boxes.
    message Landing {
        // Pose of the landing's center relative to the stairs frame.
        bosdyn.api.SE3Pose stairs_tform_landing_center = 1;
        // The half-size of the box representing the landing in the x axis.
        double landing_extent_x = 2;
        // The half-size of the box representing the landing in the y axis.
        double landing_extent_y = 3;
    }
    // Each stair should be rise followed by run. The last stair will have zero run.
    repeated Stair stairs = 2;
    // The lowermost landing of the stairs. The robot will try to
    // align itself to the stairs while on this landing.
    Landing bottom_landing = 3;
    // The uppermost landing of the stairs.
    Landing top_landing = 4;
}