/*
 * Copyright (C) 2025 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 = "NavSatWithCovarianceProtos";

/// \ingroup gz.msgs
/// \interface NavSatWithCovariance
/// \brief Data with covariance from a NavSat sensor
/// This replaces the NavSat message.

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

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

  /// \brief Latitude in degrees
  double latitude_deg             = 2;

  /// \brief Longitude in degrees
  double longitude_deg            = 3;

  /// \brief Altitude in meters
  double altitude                 = 4;
   
  /// \brief Covariance or dilution of precision (DoP) 9 of the position
  /// Position covariance [m^2] defined relative to a tangential plane
  /// through the reported position. The components are East, North, and
  /// Up (ENU), in row-major order.
  /// For more information see From Global Positioning System: Signals,
  /// Measurements, and Performance section 6.1.2
  Float_V position_covariance    = 5;
  
  /// \brief Position covariance information availability
  /// If the Dilution of Precision or covariance of the fix is known, fill
  /// it in completely. If the GPS receiver provides the variance of each
  /// measurement, put them along the diagonal. If only DoP parameters are
  /// available, estimate an approximate covariance from that.
  /// Possible values are:
  /// - COVARIANCE_TYPE_UNKNOWN = 0
  /// - COVARIANCE_TYPE_APPROXIMATED = 1
  /// - COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
  /// - COVARIANCE_TYPE_KNOWN = 3
  uint32 position_covariance_type = 6;

  /// \brief East velocity in the ENU frame, in m / s
  double velocity_east            = 7;

  /// \brief North velocity in the ENU frame, in m / s
  double velocity_north           = 8;

  /// \brief Up velocity in the ENU frame, in m / s
  double velocity_up              = 9;

  /// \brief Covariance or dilution of precision (DoP) 9 of the velocity
  /// Position covariance [(m/s)^2] defined relative to a tangential plane
  /// through the reported position. The components are East, North, and
  /// Up (ENU), in row-major order.
  /// For more information see From Global Positioning System: Signals,
  /// Measurements, and Performance section 6.2.1
  Float_V velocity_covariance    = 10;
  
  /// \brief Velocity covariance information availability
  /// If the Dilution of Precision or covariance of the fix is known, fill
  /// it in completely. If the GPS receiver provides the variance of each
  /// measurement, put them along the diagonal. If only DoP parameters are
  /// available, estimate an approximate covariance from that.
  /// Possible values are:
  /// - COVARIANCE_TYPE_UNKNOWN = 0
  /// - COVARIANCE_TYPE_APPROXIMATED = 1
  /// - COVARIANCE_TYPE_DIAGONAL_KNOWN = 2
  /// - COVARIANCE_TYPE_KNOWN = 3
  uint32 velocity_covariance_type = 11;

  /// \brief ID of reference frame
  string frame_id                 = 12;
}
