/*
 * Copyright (C) 2020 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 = "JointTrajectoryProtos";

/// \ingroup gz.msgs
/// \interface JointTrajectory
/// \brief Message for joint trajectory, which can be used to control a model
/// with multiple single-axis joints simultaneously. This message is utilised
/// by JointTrajectoryController plugin

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

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

  /// \brief Ordered list of joint names that must be active during execution
  /// of this trajectory. The order shall correspond to the values in each
  /// trajectory point
  repeated string joint_names          = 2;

  /// \brief Ordered list of time-parameterised trajectory points, which can
  /// describe positions, velocities, accelerations and/or effort for all
  /// active joints at each point in time. All points must be ordered
  /// according to their time from start, which must be strictly increasing
  repeated JointTrajectoryPoint points = 3;
}
