// -*- IDL -*-
/*!
 * @file ExtendedDataTypes.idl
 * @brief Extended data types for robotics applications.
 * @date $Date: $
 * @author Geoffrey Biggs <geoffrey.biggs@aist.go.jp>
 *
 * Copyright (C) 2009
 *     RT Synthesis Research Group
 *     Intelligent Systems Research Institute,
 *     National Institute of
 *         Advanced Industrial Science and Technology (AIST), Japan
 *     All rights reserved.
 *
 */

#ifndef ExtendedDataTypes_idl
#define ExtendedDataTypes_idl

#include "BasicDataType.idl"

module RTC {
    /*!
     * @struct RGBColour
     * @brief Red/green/blue colour specification, with values between 0.0 for
     * none and 1.0 for full.
     */
    struct RGBColour
    {
        double r;
        double g;
        double b;
    };

    //------------------------------------------------------------
    // 2D data types
    //------------------------------------------------------------

    /*!
     * @struct Point2D
     * @brief Point in 2D cartesian space.
     */
    struct Point2D
    {
        /// X coordinate in metres.
        double x;
        /// Y coordinate in metres.
        double y;
    };

    /*!
     * @struct Vector2D
     * @brief Vector in 2D cartesian space.
     */
    struct Vector2D
    {
        /// X value in metres.
        double x;
        /// Y value in metres.
        double y;
    };

    /*!
     * @struct Pose2D
     * @brief Pose in 2D cartesian space.
     */
    struct Pose2D
    {
        /// 2D position.
        Point2D position;
        /// Heading in radians.
        double heading;
    };

    /*!
     * @struct Velocity2D
     * @brief Velocities in 2D cartesian space.
     */
    struct Velocity2D
    {
        /// Velocity along the x axis in metres per second.
        double vx;
        /// Velocity along the y axis in metres per second.
        double vy;
        /// Yaw velocity in radians per second.
        double va;
    };

    /*!
     * @struct Acceleration2D
     * @brief Accelerations in 2D cartesian space.
     */
    struct Acceleration2D
    {
        /// Acceleration along the x axis, in metres per second per second.
        double ax;
        /// Acceleration along the y axis, in metres per second per second.
        double ay;
    };

    /*!
     * @struct PoseVel2D
     * @brief Pose and velocity in 2D cartesian space.
     */
    struct PoseVel2D
    {
        Pose2D pose;
        Velocity2D velocities;
    };

    /*!
     * @struct Size2D
     * @brief Size in 2D cartesian space.
     */
    struct Size2D
    {
        /// Length in metres.
        double l;
        /// Width in metres.
        double w;
    };

    /*!
     * @struct Geometry2D
     * @brief Geometry information for a device in 2D cartesian space.
     */
    struct Geometry2D
    {
        /// Pose of the device's base point in its parent device's (e.g. the robot's)
        /// coordinate space.
        Pose2D pose;
        /// Size of the device, taken with the origin at its base point.
        Size2D size;
    };

    /*!
     * @struct Covariance2D
     * @brief Covariance matrix for a 2D pose.
     */
    struct Covariance2D
    {
        /// (0, 0) value of the covariance matrix.
        double xx;
        /// (0, 1) value of the covariance matrix.
        double xy;
        /// (0, 2) value of the covariance matrix.
        double xt;
        /// (1, 1) value of the covariance matrix.
        double yy;
        /// (1, 2) value of the covariance matrix.
        double yt;
        /// (2, 2) value of the covariance matrix.
        double tt;
    };

    /*!
     * @struct PointCovariance2D
     * @brief Covariance matrix for a 2D point.
     */
    struct PointCovariance2D
    {
        /// (0, 0) value of the covariance matrix.
        double xx;
        /// (0, 1) value of the covariance matrix.
        double xy;
        /// (1, 1) value of the covariance matrix.
        double yy;
    };

    /*!
     * @struct Carlike
     * @brief Control specification for a car-like robot.
     */
    struct Carlike
    {
        /// Speed in metres per second.
        double speed;
        /// Steering angle in radians.
        double steeringAngle;
    };

    /*!
     * @struct SpeedHeading2D
     * @brief Control specification for a robot capable of moving in a given direction in 2D space.
     */
    struct SpeedHeading2D
    {
        /// Speed in metres per second.
        double speed;
        /// Direction of travel in radians from the x axis.
        double heading;
    };

    //------------------------------------------------------------
    // 3D data types
    //------------------------------------------------------------

    /*!
     * @struct Point3D
     * @brief Point in 3D cartesian space.
     */
    struct Point3D
    {
        /// X coordinate in metres.
        double x;
        /// Y coordinate in metres.
        double y;
        /// Z coordinate in metres.
        double z;
    };

    /*!
     * @struct Vector3D
     * @brief Vector in 3D cartesian space.
     */
    struct Vector3D
    {
        /// X value in metres.
        double x;
        /// Y value in metres.
        double y;
        /// Z value in metres.
        double z;
    };

    /*!
     * @struct Orientation3D
     * @brief Orientation in 3D cartesian space.
     */
    struct Orientation3D
    {
        /// Roll angle in radians.
        double r;
        /// Pitch angle in radians.
        double p;
        /// Yaw angle in radians.
        double y;
    };

    /*!
     * @struct Pose3D
     * @brief Pose in 3D cartesian space.
     */
    struct Pose3D
    {
        /// 3D position.
        Point3D position;
        /// 3D orientation.
        Orientation3D orientation;
    };

    /*!
     * @struct Velocity3D
     * @brief Velocities in 3D cartesian space.
     */
    struct Velocity3D
    {
        /// Velocity along the x axis in metres per second.
        double vx;
        /// Velocity along the y axis in metres per second.
        double vy;
        /// Velocity along the z axis in metres per second.
        double vz;
        /// Roll velocity in radians per second.
        double vr;
        /// Pitch velocity in radians per second.
        double vp;
        /// Yaw velocity in radians per second.
        double va;
    };

    /*!
     * @struct AngularVelocity3D
     * @brief Angular velocities in 3D cartesian space.
     */
    struct AngularVelocity3D
    {
        /// Velocity around the x axis, in radians per second.
        double avx;
        /// Velocity around the y axis, in radians per second.
        double avy;
        /// Velocity around the z axis, in radians per second.
        double avz;
    };

    /*!
     * @struct Acceleration3D
     * @brief Accelerations in 3D cartesian space.
     */
    struct Acceleration3D
    {
        /// Acceleration along the x axis, in metres per second per second.
        double ax;
        /// Acceleration along the y axis, in metres per second per second.
        double ay;
        /// Acceleration along the z axis, in metres per second per second.
        double az;
    };

    /*!
     * @struct AngularAcceleration3D
     * @brief Angular accelerations in 3D cartesian space.
     */
    struct AngularAcceleration3D
    {
        /// Acceleration around the x axis, in radians per second per second.
        double aax;
        /// Acceleration around the y axis, in radians per second per second.
        double aay;
        /// Acceleration around the z axis, in radians per second per second.
        double aaz;
    };

    /*!
     * @struct PoseVel3D
     * @brief Pose and velocity in 3D cartesian space.
     */
    struct PoseVel3D
    {
        Pose3D pose;
        Velocity3D velocities;
    };

    /*!
     * @struct Size3D
     * @brief Size in 3D cartesian space.
     */
    struct Size3D
    {
        /// Length in metres.
        double l;
        /// Width in metres.
        double w;
        /// Height in metres.
        double h;
    };

    /*!
     * @struct Geoemtry3D
     * @brief Geometry information for a device in 3D cartesian space.
     */
    struct Geometry3D
    {
        /// Pose of the device's base point in its parent device's (e.g. the robot's)
        /// coordinate space.
        Pose3D pose;
        /// Size of the device, taken with the origin at its base point.
        Size3D size;
    };

    /*!
     * @struct Covariance3D
     * @brief Covariance matrix for a 3D pose.
     */
    struct Covariance3D
    {
        /// (0, 0) value of the covariance matrix.
        double xx;
        /// (0, 1) value of the covariance matrix.
        double xy;
        /// (0, 2) value of the covariance matrix.
        double xz;
        /// (0, 3) value of the covariance matrix.
        double xr;
        /// (0, 4) value of the covariance matrix.
        double xp;
        /// (0, 5) value of the covariance matrix.
        double xa;
        /// (1, 1) value of the covariance matrix.
        double yy;
        /// (1, 2) value of the covariance matrix.
        double yz;
        /// (1, 3) value of the covariance matrix.
        double yr;
        /// (1, 4) value of the covariance matrix.
        double yp;
        /// (1, 5) value of the covariance matrix.
        double ya;
        /// (2, 2) value of the covariance matrix.
        double zz;
        /// (2, 3) value of the covariance matrix.
        double zr;
        /// (2, 4) value of the covariance matrix.
        double zp;
        /// (2, 5) value of the covariance matrix.
        double za;
        /// (3, 3) value of the covariance matrix.
        double rr;
        /// (3, 4) value of the covariance matrix.
        double rp;
        /// (3, 5) value of the covariance matrix.
        double ra;
        /// (4, 4) value of the covariance matrix.
        double pp;
        /// (4, 5) value of the covariance matrix.
        double pa;
        /// (5, 5) value of the covariance matrix.
        double aa;
    };

    /*!
     * @struct SpeedHeading3D
     * @brief Control specification for a robot capable of moving in a given direction in 3D space.
     */
    struct SpeedHeading3D
    {
        /// Speed in metres per second.
        double speed;
        /// Direction of travel.
        Orientation3D direction;
    };

    /*!
     * @struct OAP
     * @brief Orientation, approach and position vectors.
     */
    struct OAP
    {
        Vector3D orientation;
        Vector3D approach;
        Vector3D position;
    };

    //------------------------------------------------------------
    // Timed data types
    //------------------------------------------------------------

    /*!
     * @struct TimedRGBColour
     * @brief Time-stamped version of RGBColour.
     */
    struct TimedRGBColour
    {
        Time tm;
        RGBColour data;
    };

    /*!
     * @struct TimedPoint2D
     * @brief Time-stamped version of Point2D.
     */
    struct TimedPoint2D
    {
        Time tm;
        Point2D data;
    };

    /*!
     * @struct TimedVector2D
     * @brief Time-stamped version of Vector2D.
     */
    struct TimedVector2D
    {
        Time tm;
        Vector2D data;
    };

    /*!
     * @struct TimedPose2D
     * @brief Time-stamped version of Pose2D.
     */
    struct TimedPose2D
    {
        Time tm;
        Pose2D data;
    };

    /*!
     * @struct TimedVelocity2D
     * @brief Time-stamped version of Velocity2D.
     */
    struct TimedVelocity2D
    {
        Time tm;
        Velocity2D data;
    };

    /*!
     * @struct TimedAcceleration2D
     * @brief Time-stamped version of Acceleration2D.
     */
    struct TimedAcceleration2D
    {
        Time tm;
        Acceleration2D data;
    };

    /*!
     * @struct TimedPoseVel2D
     * @brief Time-stamped version of PoseVel2D.
     */
    struct TimedPoseVel2D
    {
        Time tm;
        PoseVel2D data;
    };

    /*!
     * @struct TimedSize2D
     * @brief Time-stamped version of Size2D.
     */
    struct TimedSize2D
    {
        Time tm;
        Size2D data;
    };

    /*!
     * @struct TimedGeometry2D
     * @brief Time-stamped version of Geometry2D.
     */
    struct TimedGeometry2D
    {
        Time tm;
        Geometry2D data;
    };

    /*!
     * @struct TimedCovariance2D
     * @brief Time-stamped version of Covariance2D.
     */
    struct TimedCovariance2D
    {
        Time tm;
        Covariance2D data;
    };

    /*!
     * @struct TimedPointCovariance2D
     * @brief Time-stamped version of PointCovariance2D.
     */
    struct TimedPointCovariance2D
    {
        Time tm;
        PointCovariance2D data;
    };

    /*!
     * @struct TimedCarlike
     * @brief Time-stamped version of Carlike.
     */
    struct TimedCarlike
    {
        Time tm;
        Carlike data;
    };

    /*!
     * @struct TimedSpeedHeading2D
     * @brief Time-stamped version of SpeedHeading2D.
     */
    struct TimedSpeedHeading2D
    {
        Time tm;
        SpeedHeading2D data;
    };

    /*!
     * @struct TimedPoint3D
     * @brief Time-stamped version of Point3D.
     */
    struct TimedPoint3D
    {
        Time tm;
        Point3D data;
    };

    /*!
     * @struct TimedVector3D
     * @brief Time-stamped version of Vector3D.
     */
    struct TimedVector3D
    {
        Time tm;
        Vector3D data;
    };

    /*!
     * @struct TimedOrientation3D
     * @brief Time-stamped version of Orientation3D.
     */
    struct TimedOrientation3D
    {
        Time tm;
        Orientation3D data;
    };

    /*!
     * @struct TimedPose3D
     * @brief Time-stamped version of Pose3D.
     */
    struct TimedPose3D
    {
        Time tm;
        Pose3D data;
    };

    /*!
     * @struct TimedVelocity3D
     * @brief Time-stamped version of Velocity3D.
     */
    struct TimedVelocity3D
    {
        Time tm;
        Velocity3D data;
    };

    /*!
     * @struct TimedAngularVelocity3D
     * @brief Time-stamped version of AngularVelocity3D.
     */
    struct TimedAngularVelocity3D
    {
        Time tm;
        AngularVelocity3D data;
    };

    /*!
     * @struct TimedAcceleration3D
     * @brief Time-stamped version of Acceleration3D.
     */
    struct TimedAcceleration3D
    {
        Time tm;
        Acceleration3D data;
    };

    /*!
     * @struct TimedAngularAcceleration3D
     * @brief Time-stamped version of AngularAcceleration3D.
     */
    struct TimedAngularAcceleration3D
    {
        Time tm;
        AngularAcceleration3D data;
    };

    /*!
     * @struct TimedPoseVel3D
     * @brief Time-stamped version of PoseVel3D.
     */
    struct TimedPoseVel3D
    {
        Time tm;
        PoseVel3D data;
    };

    /*!
     * @struct TimedSize3D
     * @brief Time-stamped version of Size3D.
     */
    struct TimedSize3D
    {
        Time tm;
        Size3D data;
    };

    /*!
     * @struct TimedGeometry3D
     * @brief Time-stamped version of Geometry3D.
     */
    struct TimedGeometry3D
    {
        Time tm;
        Geometry3D data;
    };

    /*!
     * @struct TimedCovariance3D
     * @brief Time-stamped version of Covariance3D.
     */
    struct TimedCovariance3D
    {
        Time tm;
        Covariance3D data;
    };

    /*!
     * @struct TimedSpeedHeading3D
     * @brief Time-stamped version of SpeedHeading3D.
     */
    struct TimedSpeedHeading3D
    {
        Time tm;
        SpeedHeading3D data;
    };

    /*!
     * @struct TimedOAP
     * @brief Time-stamped version of OAP.
     */
    struct TimedOAP
    {
        Time tm;
        OAP data;
    };
};

#endif // ExtendedDataTypes_idl
