CameraTrack message for advanced tracking and following.

proto/gz/msgs/cameratrack.proto

@@ -0,0 +1,69 @@
+/*
+ * 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;
+}