// Generated by https://github.com/foxglove/schemas

syntax = "proto3";

import "foxglove/Pose.proto";
import "google/protobuf/timestamp.proto";

package foxglove;

// A single scan from a planar laser range-finder
message LaserScan {
  // Timestamp of scan
  google.protobuf.Timestamp timestamp = 1;

  // Frame of reference
  string frame_id = 2;

  // Origin of scan relative to frame of reference; points are positioned in the x-y plane relative to this origin; angles are interpreted as counterclockwise rotations around the z axis with 0 rad being in the +x direction
  foxglove.Pose pose = 3;

  // Bearing of first point, in radians
  double start_angle = 4;

  // Bearing of last point, in radians
  double end_angle = 5;

  // Distance of detections from origin; assumed to be at equally-spaced angles between `start_angle` and `end_angle`
  repeated double ranges = 6;

  // Intensity of detections
  repeated double intensities = 7;
}
