/*
 * 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 = "TwistWithCovarianceProtos";

/// \ingroup gz.msgs
/// \interface TwistWithCovariance
/// \brief Message with twist and a covariance matrix

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

message TwistWithCovariance
{
  /// \brief Twist message.
  Twist twist        = 1;

  /// \brief Row-major representation of the 6x6 covariance matrix
  /// The orientation parameters use a fixed-axis representation.
  /// In order, the parameters are:
  /// (x, y, z, rotation about X axis, rotation about Y axis, rotation about Z axis)
  Float_V covariance = 2;
}
