/*
 * Copyright (C) 2022 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 = "DVLTrackingTargetProtos";

/// \ingroup gz.msgs
/// \interface DVLTrackingTarget
/// \brief Target used for tracking by a Doppler Velocity Log sensor. Either a bottom ground
/// or a water mass target. Estimates of target range and position in some reference frame
/// may be provided.

import "gz/msgs/dvl_kinematic_estimate.proto";
import "gz/msgs/dvl_range_estimate.proto";

message DVLTrackingTarget
{
  /// \brief Target types
  enum TargetType
  {
    /// \brief Unspecific target type.
    DVL_TARGET_UNSPECIFIED = 0;
    /// \brief Bottom ground (ie. solid) target.
    DVL_TARGET_BOTTOM = 1;
    /// \brief Water mass layer (ie. fluid) target.
    DVL_TARGET_WATER_MASS = 2;
  };
  /// \brief Type of target used for tracking.
  TargetType type = 1;

  /// \brief Target range (or distance), in meters
  DVLRangeEstimate range = 2;

  /// \brief Target position estimate, in meters.
  DVLKinematicEstimate position = 3;
}
