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

syntax = "proto3";

import "foxglove/Quaternion.proto";
import "foxglove/Vector3.proto";
import "google/protobuf/timestamp.proto";

package foxglove;

// A transform between two reference frames in 3D space
message FrameTransform {
  // Timestamp of transform
  google.protobuf.Timestamp timestamp = 1;

  // Name of the parent frame
  string parent_frame_id = 2;

  // Name of the child frame
  string child_frame_id = 3;

  // Translation component of the transform
  foxglove.Vector3 translation = 4;

  // Rotation component of the transform
  foxglove.Quaternion rotation = 5;
}
