/*
 * Copyright (C) 2017 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 = "ProjectorProtos";

/// \ingroup gz.msgs
/// \interface Projector
/// \brief Information about a projector

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

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

  string name          = 2;
  string texture       = 3;
  Pose pose            = 4;
  double fov           = 5;
  double near_clip     = 6;
  double far_clip      = 7;
  bool enabled         = 8;

  /// \brief Unique ID associated with the projector
  uint32 id            = 9;

  /// \brief Visibility flags of a projector. When a camera's visibility_mask
  /// & (bitwise AND) the projector's visibility_flags evaluates to non-zero,
  /// the projected pattern will be visible to the camera.
  uint32 visibility_flags = 10;
}
