/*
 * Copyright (C) 2024 Rudis Laboratories
 *
 * 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 = "CameraTrackProtos";

/// \ingroup gz.msgs
/// \interface CameraTrack
/// \brief Message for camera tracking

import "gz/msgs/entity.proto";
import "gz/msgs/header.proto";
import "gz/msgs/vector3d.proto";

message CameraTrack
{
  enum TrackMode
  {
    /// \brief Defaults to no tracking mode.
    NONE              = 0;
    /// \brief TRACK observes a target from fixed x,y,z world
    ///   camera point with pgain allowing only for orientation change.
    TRACK             = 1;
    /// \brief FOLLOW moves with a target with an offset x,y,z camera and pgain.
    FOLLOW            = 2;
    /// \brief FOLLOW_FREE_LOOK moves with a target with an offset x,y,z camera
    ///   and pgain but allows for changing orientation for free looking around.
    FOLLOW_FREE_LOOK  = 3;
    /// \brief FOLLOW_LOOK_AT moves with a target with an offset x,y,z camera
    ///   and pgain while looking at a specified target.
    FOLLOW_LOOK_AT    = 4;
    /// \brief USE_LAST updates offsets and pgains without changing the
    ///   fundamental track_mode or target(s)
    USE_LAST          = 5;
  }

  /// \brief Optional header data
  Header header           = 1;
  /// \brief Tracking mode.
  TrackMode track_mode    = 2;
  /// \brief Target entity to follow.
  Entity follow_target    = 3;
  /// \brief Target entity to track.
  Entity track_target     = 4;
  /// \brief Follow offset in local target frame.
  Vector3d follow_offset  = 5;
  /// \brief Track offset in local target frame.
  Vector3d track_offset   = 6;
  /// \brief Follow pgain for following a target.
  double follow_pgain     = 7;
  /// \brief Track pgain for following a target.
  double track_pgain      = 8;
}
