.. _package-rst-geometry: ====================== Package rst.geometry ====================== Geometry is a branch of mathematics concerned with questions of shape, size, relative position of figures, and the properties of space. This package contains data types which represent geometrical objects. .. seealso:: Wikipedia article containing the definition above http://en.wikipedia.org/wiki/Geometry .. seealso:: Corresponding data types in ROS http://www.ros.org/wiki/geometry_msgs Messages ======== .. container:: mess4ge-multi .. container:: mess4ge-graph .. digraph:: message_graph fontname="Arial"; fontsize=11; stylesheet="../_static/graphs.css"; node [fontsize=11,fontname="Arial"] edge [fontsize=11,fontname="Arial"] "40" [label=<
SphericalDirectionFloat
FLOAT32azimuth
FLOAT32elevation
>,shape=box,style=filled,fillcolor="white"]; "39" [label=<
BoundingBox3DFloatSet
BoundingBox3DFloatboxes
>,shape=box,style=filled,fillcolor="white"]; "37" [label=<
Cylinder3DFloatSet
Cylinder3DFloatcylinders
>,shape=box,style=filled,fillcolor="white"]; "38" [label=<
Cylinder3DFloat
Posetransformation
FLOAT32radius
FLOAT32height
>,shape=box,style=filled,fillcolor="white"]; "34" [label=<
TriangleMesh3DFloatSet
TriangleMesh3DFloatmeshes
>,shape=box,style=filled,fillcolor="white"]; "35" [label=<
TriangleMesh3DFloat
PointCloud3DFloatvertices
Triangletriangles
>,shape=box,style=filled,fillcolor="white"]; "36" [label=<
Triangle
UINT32point1
UINT32point2
UINT32point3
>,shape=box,style=filled,fillcolor="white"]; "32" [label=<
PolygonalPatch3DSet
PolygonalPatch3Dpatches
>,shape=box,style=filled,fillcolor="white"]; "33" [label=<
PolygonalPatch3D
Posebase
Vec2DFloatborder
>,shape=box,style=filled,fillcolor="white"]; "29" [label=<
PointCloudSet3DFloat
PointCloud3DFloatclouds
>,shape=box,style=filled,fillcolor="white"]; "30" [label=<
PointCloud3DFloat
Vec3DFloatpoints
>,shape=box,style=filled,fillcolor="white"]; "31" [label=<
Vec3DFloat
FLOAT32x
FLOAT32y
FLOAT32z
>,shape=box,style=filled,fillcolor="white"]; "28" [label=<
FieldOfViewCollection
FieldOfViewelement
>,shape=box,style=filled,fillcolor="white"]; "25" [label=<
Shape3DFloatCollection
Shape3DFloatelement
>,shape=box,style=filled,fillcolor="white"]; "26" [label=<
Shape3DFloat
BoundingBox3DFloatbox
>,shape=box,style=filled,fillcolor="white"]; "27" [label=<
BoundingBox3DFloat
Posetransformation
FLOAT32width
FLOAT32depth
FLOAT32height
>,shape=box,style=filled,fillcolor="white"]; "22" [label=<
ViewFrustumCollection
ViewFrustumelement
>,shape=box,style=filled,fillcolor="white"]; "23" [label=<
ViewFrustum
FieldOfViewfov
FLOAT32minimal_distance
FLOAT32maximal_distance
>,shape=box,style=filled,fillcolor="white"]; "24" [label=<
FieldOfView
FLOAT32horizontal_aov
FLOAT32vertical_aov
>,shape=box,style=filled,fillcolor="white"]; "19" [label=<
PointPairCollection
PointPairelement
>,shape=box,style=filled,fillcolor="white"]; "20" [label=<
PointPair
Vec2DFloatfirst
Vec2DFloatsecond
>,shape=box,style=filled,fillcolor="white"]; "21" [label=<
Vec2DFloat
FLOAT32x
FLOAT32y
>,shape=box,style=filled,fillcolor="white"]; "18" [label=<
PoseCollection
Poseelement
>,shape=box,style=filled,fillcolor="white"]; "16" [label=<
LengthsCollection
Lengthselement
>,shape=box,style=filled,fillcolor="white"]; "17" [label=<
Lengths
FLOAT64lengths
>,shape=box,style=filled,fillcolor="white"]; "12" [label=<
CameraPoseCollection
CameraPoseelement
>,shape=box,style=filled,fillcolor="white"]; "13" [label=<
CameraPose
CoordinateFramecoordinate_frame
Posepose
>,shape=box,style=filled,fillcolor="white"]; "15" [label=<
Pose
Translationtranslation
Rotationrotation
>,shape=box,style=filled,fillcolor="white"]; "14" [label=<
CoordinateFrame
CAMERA_IMAGE_FRAME0
CAMERA_X_UP_FRAME1
CAMERA_Y_UP_FRAME2
LASER_FRAME3
SCREEN_FRAME4
>,shape=box,style=filled,fillcolor="white"]; "10" [label=<
AxisAlignedBoundingBox3DFloatCollection
AxisAlignedBoundingBox3DFloatelement
>,shape=box,style=filled,fillcolor="white"]; "11" [label=<
AxisAlignedBoundingBox3DFloat
Translationleft_front_bottom
FLOAT32width
FLOAT32depth
FLOAT32height
>,shape=box,style=filled,fillcolor="white"]; "8" [label=<
RotationCollection
Rotationelement
>,shape=box,style=filled,fillcolor="white"]; "9" [label=<
Rotation
FLOAT64qw
FLOAT64qx
FLOAT64qy
FLOAT64qz
ASCII-STRINGframe_id
>,shape=box,style=filled,fillcolor="white"]; "6" [label=<
BoundingBoxCollection
BoundingBoxelement
>,shape=box,style=filled,fillcolor="white"]; "7" [label=<
BoundingBox
Vec2DInttop_left
UINT32width
UINT32height
UINT32image_width
UINT32image_height
>,shape=box,style=filled,fillcolor="white"]; "4" [label=<
TranslationCollection
Translationelement
>,shape=box,style=filled,fillcolor="white"]; "5" [label=<
Translation
FLOAT64x
FLOAT64y
FLOAT64z
ASCII-STRINGframe_id
>,shape=box,style=filled,fillcolor="white"]; "1" [label=<
PointCloud2DIntCollection
PointCloud2DIntelement
>,shape=box,style=filled,fillcolor="white"]; "2" [label=<
PointCloud2DInt
Vec2DIntpoints
>,shape=box,style=filled,fillcolor="white"]; "3" [label=<
Vec2DInt
INT32x
INT32y
>,shape=box,style=filled,fillcolor="white"]; "39":boxes -> "27" []; "37":cylinders -> "38" []; "38":transformation -> "15" []; "34":meshes -> "35" []; "35" -> "36" []; "35":triangles -> "36" []; "35":vertices -> "30" []; "32":patches -> "33" []; "33":border -> "21" []; "33":base -> "15" []; "29":clouds -> "30" []; "30":points -> "31" []; "28":element -> "24" []; "25":element -> "26" []; "26":box -> "27" []; "27":transformation -> "15" []; "22":element -> "23" []; "23":fov -> "24" []; "19":element -> "20" []; "20":second -> "21" []; "20":first -> "21" []; "18":element -> "15" []; "16":element -> "17" []; "12":element -> "13" []; "13" -> "14" []; "13":pose -> "15" []; "13":coordinate_frame -> "14" []; "15":rotation -> "9" []; "15":translation -> "5" []; "10":element -> "11" []; "11":left_front_bottom -> "5" []; "8":element -> "9" []; "6":element -> "7" []; "7":top_left -> "3" []; "4":element -> "5" []; "1":element -> "2" []; "2":points -> "3" []; .. container:: mess4ge-list .. container:: messages * :ref:`PointCloud2DIntCollection ` * :ref:`TranslationCollection ` * :ref:`BoundingBoxCollection ` * :ref:`RotationCollection ` * :ref:`AxisAlignedBoundingBox3DFloatCollection ` * :ref:`CameraPoseCollection ` * :ref:`LengthsCollection ` * :ref:`PoseCollection ` * :ref:`PointPairCollection ` * :ref:`ViewFrustumCollection ` * :ref:`Shape3DFloatCollection ` * :ref:`FieldOfViewCollection ` * :ref:`PointCloud2DInt ` * :ref:`PointCloudSet3DFloat ` * :ref:`PolygonalPatch3DSet ` * :ref:`TriangleMesh3DFloatSet ` * :ref:`TriangleMesh3DFloat ` * :ref:`Cylinder3DFloatSet ` * :ref:`BoundingBox3DFloatSet ` * :ref:`Lengths ` * :ref:`PointPair ` * :ref:`PolygonalPatch3D ` * :ref:`Cylinder3DFloat ` * :ref:`SphericalDirectionFloat ` * :ref:`PointCloud3DFloat ` * :ref:`CameraPose ` * :ref:`ViewFrustum ` * :ref:`FieldOfView ` * :ref:`Shape3DFloat ` * :ref:`BoundingBox ` * :ref:`BoundingBox3DFloat ` * :ref:`Pose ` * :ref:`Rotation ` * :ref:`AxisAlignedBoundingBox3DFloat ` * :ref:`Translation ` .. container:: clearer clearer: should be made invisible via css .. _message-rst-geometry-pointcloud2dintcollection: Message PointCloud2DIntCollection --------------------------------- .. container:: message-rst-geometry-pointcloud2dintcollection-multi .. container:: message-rst-geometry-pointcloud2dintcollection-documentation .. py:class:: rst.geometry.PointCloud2DIntCollection Collection of :py:class:`PointCloud2DInt ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.PointCloud2DInt` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-pointcloud2dintcollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PointCloud2DIntCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-translationcollection: Message TranslationCollection ----------------------------- .. container:: message-rst-geometry-translationcollection-multi .. container:: message-rst-geometry-translationcollection-documentation .. py:class:: rst.geometry.TranslationCollection Collection of :py:class:`Translation ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.Translation` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-translationcollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/TranslationCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-boundingboxcollection: Message BoundingBoxCollection ----------------------------- .. container:: message-rst-geometry-boundingboxcollection-multi .. container:: message-rst-geometry-boundingboxcollection-documentation .. py:class:: rst.geometry.BoundingBoxCollection Collection of :py:class:`BoundingBox ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.BoundingBox` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-boundingboxcollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/BoundingBoxCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-rotationcollection: Message RotationCollection -------------------------- .. container:: message-rst-geometry-rotationcollection-multi .. container:: message-rst-geometry-rotationcollection-documentation .. py:class:: rst.geometry.RotationCollection Collection of :py:class:`Rotation ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.Rotation` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-rotationcollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/RotationCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-axisalignedboundingbox3dfloatcollection: Message AxisAlignedBoundingBox3DFloatCollection ----------------------------------------------- .. container:: message-rst-geometry-axisalignedboundingbox3dfloatcollection-multi .. container:: message-rst-geometry-axisalignedboundingbox3dfloatcollection-documentation .. py:class:: rst.geometry.AxisAlignedBoundingBox3DFloatCollection Collection of :py:class:`AxisAlignedBoundingBox3DFloat ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.AxisAlignedBoundingBox3DFloat` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-axisalignedboundingbox3dfloatcollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/AxisAlignedBoundingBox3DFloatCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-cameraposecollection: Message CameraPoseCollection ---------------------------- .. container:: message-rst-geometry-cameraposecollection-multi .. container:: message-rst-geometry-cameraposecollection-documentation .. py:class:: rst.geometry.CameraPoseCollection Collection of :py:class:`CameraPose ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.CameraPose` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-cameraposecollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/CameraPoseCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-lengthscollection: Message LengthsCollection ------------------------- .. container:: message-rst-geometry-lengthscollection-multi .. container:: message-rst-geometry-lengthscollection-documentation .. py:class:: rst.geometry.LengthsCollection Collection of :py:class:`Lengths ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.Lengths` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-lengthscollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/LengthsCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-posecollection: Message PoseCollection ---------------------- .. container:: message-rst-geometry-posecollection-multi .. container:: message-rst-geometry-posecollection-documentation .. py:class:: rst.geometry.PoseCollection Collection of :py:class:`Pose ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.Pose` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-posecollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PoseCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-pointpaircollection: Message PointPairCollection --------------------------- .. container:: message-rst-geometry-pointpaircollection-multi .. container:: message-rst-geometry-pointpaircollection-documentation .. py:class:: rst.geometry.PointPairCollection Collection of :py:class:`PointPair ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.PointPair` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-pointpaircollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PointPairCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-viewfrustumcollection: Message ViewFrustumCollection ----------------------------- .. container:: message-rst-geometry-viewfrustumcollection-multi .. container:: message-rst-geometry-viewfrustumcollection-documentation .. py:class:: rst.geometry.ViewFrustumCollection Collection of :py:class:`ViewFrustum ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.ViewFrustum` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-viewfrustumcollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/ViewFrustumCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-shape3dfloatcollection: Message Shape3DFloatCollection ------------------------------ .. container:: message-rst-geometry-shape3dfloatcollection-multi .. container:: message-rst-geometry-shape3dfloatcollection-documentation .. py:class:: rst.geometry.Shape3DFloatCollection Collection of :py:class:`Shape3DFloat ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.Shape3DFloat` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-shape3dfloatcollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Shape3DFloatCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-fieldofviewcollection: Message FieldOfViewCollection ----------------------------- .. container:: message-rst-geometry-fieldofviewcollection-multi .. container:: message-rst-geometry-fieldofviewcollection-documentation .. py:class:: rst.geometry.FieldOfViewCollection Collection of :py:class:`FieldOfView ` instances. Auto-generated. .. py:attribute:: element :type: array of :py:class:`rst.geometry.FieldOfView` The individual elements of the collection. Constraints regarding the empty collection, sorting, duplicated entries etc. are use case specific. .. container:: message-rst-geometry-fieldofviewcollection-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/FieldOfViewCollection.proto :lines: 12-22 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-pointcloud2dint: Message PointCloud2DInt ----------------------- .. container:: message-rst-geometry-pointcloud2dint-multi .. container:: message-rst-geometry-pointcloud2dint-documentation .. py:class:: rst.geometry.PointCloud2DInt A collection of points in 2D space. .. codeauthor:: Jan Moringen @create_collection .. py:attribute:: points :type: array of :py:class:`rst.math.Vec2DInt` The points. Duplicate entries should be avoided. Order of entries is not significant. .. container:: message-rst-geometry-pointcloud2dint-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PointCloud2DInt.proto :lines: 15-25 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-pointcloudset3dfloat: Message PointCloudSet3DFloat ---------------------------- .. container:: message-rst-geometry-pointcloudset3dfloat-multi .. container:: message-rst-geometry-pointcloudset3dfloat-documentation .. py:class:: rst.geometry.PointCloudSet3DFloat A set of 3D Point clouds. .. codeauthor:: Christian Emmerich .. py:attribute:: clouds :type: array of :py:class:`rst.geometry.PointCloud3DFloat` Empty collection of clouds is allowed. The order of cloud objects is not significant. .. container:: message-rst-geometry-pointcloudset3dfloat-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PointCloudSet3DFloat.proto :lines: 14-22 :language: protobuf :emphasize-lines: 7-7 .. _message-rst-geometry-polygonalpatch3dset: Message PolygonalPatch3DSet --------------------------- .. container:: message-rst-geometry-polygonalpatch3dset-multi .. container:: message-rst-geometry-polygonalpatch3dset-documentation .. py:class:: rst.geometry.PolygonalPatch3DSet A set of :py:class:`PolygonalPatch3D ` objects. .. codeauthor:: Leon Ziegler .. py:attribute:: patches :type: array of :py:class:`rst.geometry.PolygonalPatch3D` Empty collection is allowed. Order is not important. .. container:: message-rst-geometry-polygonalpatch3dset-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PolygonalPatch3DSet.proto :lines: 14-21 :language: protobuf :emphasize-lines: 6-6 .. _message-rst-geometry-trianglemesh3dfloatset: Message TriangleMesh3DFloatSet ------------------------------ .. container:: message-rst-geometry-trianglemesh3dfloatset-multi .. container:: message-rst-geometry-trianglemesh3dfloatset-documentation .. py:class:: rst.geometry.TriangleMesh3DFloatSet A set of :py:class:`TriangleMesh3DFloat ` objects. .. codeauthor:: Johannes Wienke .. py:attribute:: meshes :type: array of :py:class:`rst.geometry.TriangleMesh3DFloat` Empty collection is allowed. Order is not important. .. container:: message-rst-geometry-trianglemesh3dfloatset-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/TriangleMesh3DFloatSet.proto :lines: 14-21 :language: protobuf :emphasize-lines: 6-6 .. _message-rst-geometry-trianglemesh3dfloat: Message TriangleMesh3DFloat --------------------------- .. container:: message-rst-geometry-trianglemesh3dfloat-multi .. container:: message-rst-geometry-trianglemesh3dfloat-documentation .. py:class:: rst.geometry.TriangleMesh3DFloat Defines a triangle mesh for describing 3D objects through vertices and their assembly to triangles. Edges are therefore only implicitly defined through the definitions of the triangles. Other typical mesh properties like faces, and surfaces are not defined. .. codeauthor:: Johannes Wienke .. py:attribute:: vertices :type: :py:class:`rst.geometry.PointCloud3DFloat` The collection of vertices in the mesh. .. py:attribute:: triangles :type: array of :py:class:`rst.geometry.TriangleMesh3DFloat.Triangle` Defines the triangles that form the mesh in the form of 3-tuples to indexes in the vertices point cloud. No particular ordering is assumed here. .. container:: message-rst-geometry-trianglemesh3dfloat-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/TriangleMesh3DFloat.proto :lines: 17-56 :language: protobuf :emphasize-lines: 6-6,38-38 .. _message-rst-geometry-trianglemesh3dfloat-triangle: Message Triangle ---------------- .. container:: message-rst-geometry-trianglemesh3dfloat-triangle-multi .. container:: message-rst-geometry-trianglemesh3dfloat-triangle-documentation .. py:class:: rst.geometry.TriangleMesh3DFloat.Triangle Definition of a single triangle in a mesh by means of indices to the vertex point cloud for all corners of the triangle. Vertices are indexed in counter-clockwise order to define a normal of the triangle that points outwards. .. py:attribute:: point1 :type: :py:class:`UINT32` Index of the first vertex defining the triangle. .. py:attribute:: point2 :type: :py:class:`UINT32` Index of the second vertex defining the triangle. .. py:attribute:: point3 :type: :py:class:`UINT32` Index of the third vertex defining the triangle. .. container:: message-rst-geometry-trianglemesh3dfloat-triangle-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/TriangleMesh3DFloat.proto :lines: 30-47 :language: protobuf :emphasize-lines: 6-6,11-11,16-16 .. _message-rst-geometry-cylinder3dfloatset: Message Cylinder3DFloatSet -------------------------- .. container:: message-rst-geometry-cylinder3dfloatset-multi .. container:: message-rst-geometry-cylinder3dfloatset-documentation .. py:class:: rst.geometry.Cylinder3DFloatSet A set of :py:class:`Cylinder3DFloat ` objects. .. codeauthor:: Christian Emmerich .. py:attribute:: cylinders :type: array of :py:class:`rst.geometry.Cylinder3DFloat` Empty collection of cylinders is allowed. The order of cylinders is not significant. .. container:: message-rst-geometry-cylinder3dfloatset-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Cylinder3DFloatSet.proto :lines: 14-22 :language: protobuf :emphasize-lines: 7-7 .. _message-rst-geometry-boundingbox3dfloatset: Message BoundingBox3DFloatSet ----------------------------- .. container:: message-rst-geometry-boundingbox3dfloatset-multi .. container:: message-rst-geometry-boundingbox3dfloatset-documentation .. py:class:: rst.geometry.BoundingBox3DFloatSet A set of :py:class:`BoundingBox3DFloat ` objects. .. codeauthor:: Christian Emmerich .. py:attribute:: boxes :type: array of :py:class:`rst.geometry.BoundingBox3DFloat` Empty collection of boxes is allowed. The order of box objects is not significant. .. container:: message-rst-geometry-boundingbox3dfloatset-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/BoundingBox3DFloatSet.proto :lines: 14-22 :language: protobuf :emphasize-lines: 7-7 .. _message-rst-geometry-lengths: Message Lengths --------------- .. container:: message-rst-geometry-lengths-multi .. container:: message-rst-geometry-lengths-documentation .. py:class:: rst.geometry.Lengths A sequence of length measurements (e.g. length of a link in a kinematics chain). .. codeauthor:: Arne Nordmann @create_collection .. py:attribute:: lengths :type: array of :py:class:`FLOAT64` **Unit**: meter .. container:: message-rst-geometry-lengths-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Lengths.proto :lines: 14-19 :language: protobuf :emphasize-lines: 4-4 .. _message-rst-geometry-pointpair: Message PointPair ----------------- .. container:: message-rst-geometry-pointpair-multi .. container:: message-rst-geometry-pointpair-documentation .. py:class:: rst.geometry.PointPair A pair of 2D Points with float entries. .. codeauthor:: Jordi Sanchez @create_collection .. py:attribute:: first :type: :py:class:`rst.math.Vec2DFloat` The first point. .. py:attribute:: second :type: :py:class:`rst.math.Vec2DFloat` The second point. .. container:: message-rst-geometry-pointpair-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PointPair.proto :lines: 15-27 :language: protobuf :emphasize-lines: 6-6,11-11 .. _message-rst-geometry-polygonalpatch3d: Message PolygonalPatch3D ------------------------ .. container:: message-rst-geometry-polygonalpatch3d-multi .. container:: message-rst-geometry-polygonalpatch3d-documentation .. py:class:: rst.geometry.PolygonalPatch3D A two-dimensional patch in 3D space bounded by a polygon. In contrast to planes (with infinite extend) this kind of bounded patch needs a local coordinate system in order to define the borders of the patch. Thus, instead of the widely used point-normal representation, we use a complete 6D pose for describing the location of the plane. We define that the X and Y axes of the resulting coordinate system span the plane. Accordingly, the Z axis corresponds to the normal on the plane. The patch border is a 2D polygon defined by a sequence of :py:class:`Vec2DFloat ` objects. In order to construct a 3D representation of the patch, the 2D coordinates of the polygon must be extended by a Z = 0 coordinate and transformed using the 6D pose. The polygon must not be self intersecting. .. codeauthor:: Leon Ziegler .. py:attribute:: base :type: :py:class:`rst.geometry.Pose` The 6D transformation specifying the base (X and Y axes span the plane in which the patch and its bounding polygon reside). .. py:attribute:: border :type: array of :py:class:`rst.math.Vec2DFloat` **Constraint**: ``len(value) >= 3`` The 2D polygon defining the border of the patch. Winding rule: ccw w.r.t. normal (Z axis) (right-hand rule) Linear segments arise by connecting consecutive entries of the array (including an additional implicit segment connecting the last entry to the first entry). Order of entries is significant. .. container:: message-rst-geometry-polygonalpatch3d-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PolygonalPatch3D.proto :lines: 29-51 :language: protobuf :emphasize-lines: 7-7,21-21 .. _message-rst-geometry-cylinder3dfloat: Message Cylinder3DFloat ----------------------- .. container:: message-rst-geometry-cylinder3dfloat-multi .. container:: message-rst-geometry-cylinder3dfloat-documentation .. py:class:: rst.geometry.Cylinder3DFloat Cylinder in 3D in general position and orientation. The general cylinder with dimensions :py:attr:`radius ` and :py:attr:`height ` is constructed by translating and rotating (via :py:attr:`transformation `) a zero-centered, z-oriented axis-aligned cylinder such as below around its center of mass. .. parsed-literal:: < :py:attr:`radius ` > .---------------------. / \\ / \\ + + + ^ \|\\ /| | \\ / | | \`---------------------' | | | | Z ^ | \| \| ^ Y \| :py:attr:`height ` \| \| / \| \| \|/ \| \| +-----> X \| | | ˙ | | | | | | + + v \\ / \\ / \`---------------------' .. codeauthor:: Christian Emmerich .. py:attribute:: transformation :type: :py:class:`rst.geometry.Pose` Transformation, consisting of translation and orientation, of the center of mass of the cylinder. .. py:attribute:: radius :type: :py:class:`FLOAT32` **Unit**: meter The radius of the cylinder. .. py:attribute:: height :type: :py:class:`FLOAT32` **Unit**: meter The height of the cylinder. .. container:: message-rst-geometry-cylinder3dfloat-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Cylinder3DFloat.proto :lines: 45-65 :language: protobuf :emphasize-lines: 7-7,13-13,19-19 .. _message-rst-geometry-sphericaldirectionfloat: Message SphericalDirectionFloat ------------------------------- .. container:: message-rst-geometry-sphericaldirectionfloat-multi .. container:: message-rst-geometry-sphericaldirectionfloat-documentation .. py:class:: rst.geometry.SphericalDirectionFloat Describes a direction using two angles in a spherical coordinate system which is grounded in a right-handed 3D Cartesian coordinate system. Rotations follow the right-hand rule. .. seealso:: NIL https://en.wikipedia.org/wiki/Spherical_coordinate_system .. seealso:: NIL https://en.wikipedia.org/wiki/Right-hand_rule .. codeauthor:: Jan Moringen .. codeauthor:: Johannes Wienke .. py:attribute:: azimuth :type: :py:class:`FLOAT32` **Unit**: radian Describes the rotation around the z axis of the underlying Cartesian coordinate system. A value of 0 zero points into the positive direction of the X axis. .. py:attribute:: elevation :type: :py:class:`FLOAT32` **Unit**: radian elevation angle with respect to the X-Y plane of the reference Cartesian coordinate system. A value of 0 points towards the "horizon". .. container:: message-rst-geometry-sphericaldirectionfloat-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/SphericalDirectionFloat.proto :lines: 18-36 :language: protobuf :emphasize-lines: 9-9,17-17 .. _message-rst-geometry-pointcloud3dfloat: Message PointCloud3DFloat ------------------------- .. container:: message-rst-geometry-pointcloud3dfloat-multi .. container:: message-rst-geometry-pointcloud3dfloat-documentation .. py:class:: rst.geometry.PointCloud3DFloat A collection of points in 3D space. .. codeauthor:: Jordi Sanchez Riera .. py:attribute:: points :type: array of :py:class:`rst.math.Vec3DFloat` The points of the cloud. Order of elements does not matter. @unit(meter?) .. container:: message-rst-geometry-pointcloud3dfloat-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/PointCloud3DFloat.proto :lines: 14-24 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-camerapose: Message CameraPose ------------------ .. container:: message-rst-geometry-camerapose-multi .. container:: message-rst-geometry-camerapose-documentation .. py:class:: rst.geometry.CameraPose Pose of a camera with semantic annotation of the axes. The pure transformation of the camera's pose (in terms of coordinate systems) does not provide information about the viewing direction. There must be a convention about the semantic meaning of the transformation in order to convey the information about where the camera actually looks. :py:attr:`coordinate_frame ` realizes this convention by describing the three axes of the camera's coordinate system semantically including viewing direction and up direction. .. codeauthor:: Leon Ziegler @create_collection .. py:attribute:: coordinate_frame :type: :py:class:`rst.geometry.CameraPose.CoordinateFrame` Annotation of the axes. .. py:attribute:: pose :type: :py:class:`rst.geometry.Pose` The pose of the camera's coordinate system in 3d space relative to a given parent coordinate system. .. container:: message-rst-geometry-camerapose-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/CameraPose.proto :lines: 23-68 :language: protobuf :emphasize-lines: 38-38,44-44 .. _message-rst-geometry-camerapose-coordinateframe: Message CoordinateFrame ----------------------- .. container:: message-rst-geometry-camerapose-coordinateframe-multi .. container:: message-rst-geometry-camerapose-coordinateframe-documentation .. py:class:: rst.geometry.CameraPose.CoordinateFrame Semantic annotation of the axes. (all right-handed) .. py:attribute:: CAMERA_IMAGE_FRAME = 0 X: right - Y: down - Z: forward (depth axis) .. py:attribute:: CAMERA_X_UP_FRAME = 1 X: up - Y: right - Z: forward (depth axis) .. py:attribute:: CAMERA_Y_UP_FRAME = 2 X: left - Y: up - Z: forward (depth axis) .. py:attribute:: LASER_FRAME = 3 X: forward (depth axis) - Y: left - Z: up .. py:attribute:: SCREEN_FRAME = 4 X: right - Y: up - Z: towards viewer (negative depth axis) .. container:: message-rst-geometry-camerapose-coordinateframe-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/CameraPose.proto :lines: 28-55 :language: protobuf :emphasize-lines: 6-6,11-11,16-16,21-21,26-26 .. _message-rst-geometry-viewfrustum: Message ViewFrustum ------------------- .. container:: message-rst-geometry-viewfrustum-multi .. container:: message-rst-geometry-viewfrustum-documentation .. py:class:: rst.geometry.ViewFrustum **Constraint**: ``.maximal_distance > .minimal_distance`` A camera's view frustum. Adds information about the maximal and minimal perceivable distance (:py:attr:`minimal_distance `, :py:attr:`maximal_distance `) of a sensor to the definition of its field of view (:py:attr:`fov `). .. codeauthor:: Leon Ziegler @create_collection .. py:attribute:: fov :type: :py:class:`rst.geometry.FieldOfView` The field of view of the frustum. .. py:attribute:: minimal_distance :type: :py:class:`FLOAT32` **Constraint**: ``value > 0`` **Unit**: meter The minimal perceivable distance. .. py:attribute:: maximal_distance :type: :py:class:`FLOAT32` **Constraint**: ``value > 0`` **Unit**: meter The maximal perceivable distance. .. container:: message-rst-geometry-viewfrustum-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/ViewFrustum.proto :lines: 20-41 :language: protobuf :emphasize-lines: 6-6,13-13,20-20 .. _message-rst-geometry-fieldofview: Message FieldOfView ------------------- .. container:: message-rst-geometry-fieldofview-multi .. container:: message-rst-geometry-fieldofview-documentation .. py:class:: rst.geometry.FieldOfView The field of view of a sensor. The sensor's FOV is defined as the angular extent of a scene that is imaged by a visual sensor. The outermost observable ray that falls in a sensor's FOV has the angular distance +/- AOV/2.0 from the optical axis in the respective extent (vertical/horizontal). The angles are given in radian. .. codeauthor:: Leon Ziegler @create_collection .. py:attribute:: horizontal_aov :type: :py:class:`FLOAT32` **Constraint**: ``value > 0`` **Unit**: radian An angle defining the horizontal bounds of the FOV. .. py:attribute:: vertical_aov :type: :py:class:`FLOAT32` **Constraint**: ``value > 0`` **Unit**: radian An angle defining the vertical bounds of the FOV. .. container:: message-rst-geometry-fieldofview-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/FieldOfView.proto :lines: 19-35 :language: protobuf :emphasize-lines: 8-8,15-15 .. _message-rst-geometry-shape3dfloat: Message Shape3DFloat -------------------- .. container:: message-rst-geometry-shape3dfloat-multi .. container:: message-rst-geometry-shape3dfloat-documentation .. py:class:: rst.geometry.Shape3DFloat Description of a 3D shape as a union of geometric primitives. New primitive types can be added to this type. .. codeauthor:: Johannes Wienke .. codeauthor:: Jan Moringen @create_collection .. py:attribute:: box :type: array of :py:class:`rst.geometry.BoundingBox3DFloat` Set of oriented bounding boxes contributing to the described 3D shape. The order of bounding boxes is not significant. .. container:: message-rst-geometry-shape3dfloat-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Shape3DFloat.proto :lines: 18-28 :language: protobuf :emphasize-lines: 9-9 .. _message-rst-geometry-boundingbox: Message BoundingBox ------------------- .. container:: message-rst-geometry-boundingbox-multi .. container:: message-rst-geometry-boundingbox-documentation .. py:class:: rst.geometry.BoundingBox **Constraint**: ``.top_left.x < .image_width`` **Constraint**: ``.top_left.x + .width <= .image_width`` **Constraint**: ``.top_left.y < .image_height`` **Constraint**: ``.top_left.y + .height <= .image_height`` A bounding box, which is associated to a raster image. .. parsed-literal:: (0,0) Image +----------------------------------+ ^ | | | :py:attr:`top_left ` | | +---------------+ ^ | | | | | | | | :py:attr:`height ` | :py:attr:`image_height ` | | | | | +---------------+ v | | < :py:attr:`width ` > | | | +----------------------------------+ v < :py:attr:`image_width ` > All values are in pixels and refer to the associated image. .. codeauthor:: Johannes Wienke @create_collection .. py:attribute:: top_left :type: :py:class:`rst.math.Vec2DInt` **Unit**: pixel Coordinates of the top left corner. .. py:attribute:: width :type: :py:class:`UINT32` **Unit**: pixel Width of the bounding box. .. py:attribute:: height :type: :py:class:`UINT32` **Unit**: pixel Height of the bounding box. .. py:attribute:: image_width :type: :py:class:`UINT32` **Unit**: pixel Width of the image the bounding box is based on. .. py:attribute:: image_height :type: :py:class:`UINT32` **Unit**: pixel Height of the image the bounding box is based on. .. container:: message-rst-geometry-boundingbox-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/BoundingBox.proto :lines: 37-69 :language: protobuf :emphasize-lines: 7-7,13-13,19-19,25-25,31-31 .. _message-rst-geometry-boundingbox3dfloat: Message BoundingBox3DFloat -------------------------- .. container:: message-rst-geometry-boundingbox3dfloat-multi .. container:: message-rst-geometry-boundingbox3dfloat-documentation .. py:class:: rst.geometry.BoundingBox3DFloat Bounding-box in 3D in general position and orientation. The general bounding-box with dimensions :py:attr:`width ` x :py:attr:`depth ` x :py:attr:`height ` is constructed by translating and rotating (via :py:attr:`transformation `) an axis-aligned bounding-box around its center of mass. For an axis-aligned version, see :py:class:`AxisAlignedBoundingBox3DFloat `. .. codeauthor:: Christian Emmerich .. codeauthor:: Jan Moringen .. py:attribute:: transformation :type: :py:class:`rst.geometry.Pose` Transformation, consisting of translation and orientation, of the center of mass of the bounding-box. .. py:attribute:: width :type: :py:class:`FLOAT32` **Unit**: meter The width (along the X axis) of the box. .. py:attribute:: depth :type: :py:class:`FLOAT32` **Unit**: meter The depth (along the Y axis) of the box. .. py:attribute:: height :type: :py:class:`FLOAT32` **Unit**: meter The height (along the Z axis) of the box. .. container:: message-rst-geometry-boundingbox3dfloat-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/BoundingBox3DFloat.proto :lines: 24-50 :language: protobuf :emphasize-lines: 7-7,13-13,19-19,25-25 .. _message-rst-geometry-pose: Message Pose ------------ .. container:: message-rst-geometry-pose-multi .. container:: message-rst-geometry-pose-documentation .. py:class:: rst.geometry.Pose Represents the pose (translation and rotation) of something in a coordinate system. .. codeauthor:: Arne Nordmann @create_collection .. py:attribute:: translation :type: :py:class:`rst.geometry.Translation` The translation of the object with respect to the origin of the coordinate system. .. py:attribute:: rotation :type: :py:class:`rst.geometry.Rotation` The rotation of the object at the position described by :py:attr:`translation ` with respect to the coordinate system. .. container:: message-rst-geometry-pose-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Pose.proto :lines: 17-31 :language: protobuf :emphasize-lines: 7-7,13-13 .. _message-rst-geometry-rotation: Message Rotation ---------------- .. container:: message-rst-geometry-rotation-multi .. container:: message-rst-geometry-rotation-documentation .. py:class:: rst.geometry.Rotation **Constraint**: ``.qw x .qw + .qx x .qx + .qy x .qy + .qz x .qz = 1`` Cartesian 3-dimensional rotatory displacement or orientation. The displacement or orientation (orientation being a rotation from an origin) is in world coordinates and expressed as unit quaternion (all-zero quaternion denotes an invalid orientation/rotation). .. codeauthor:: Arne Nordmann @create_collection .. py:attribute:: qw :type: :py:class:`FLOAT64` Angle component of the quaternion. .. py:attribute:: qx :type: :py:class:`FLOAT64` Defines the orientation of the turning axis wrt. the X axis of the world (or the frame specified in :py:attr:`frame_id `). .. py:attribute:: qy :type: :py:class:`FLOAT64` Defines the orientation of the turning axis wrt. the Y axis of the world (or the frame specified in :py:attr:`frame_id `). .. py:attribute:: qz :type: :py:class:`FLOAT64` Defines the orientation of the turning axis wrt. the Y axis of the world (or the frame specified in :py:attr:`frame_id `). .. py:attribute:: frame_id :type: :py:class:`ASCII-STRING` Identifier for the coordinate frame of the rotation. .. container:: message-rst-geometry-rotation-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Rotation.proto :lines: 18-48 :language: protobuf :emphasize-lines: 6-6,12-12,18-18,24-24,29-29 .. _message-rst-geometry-axisalignedboundingbox3dfloat: Message AxisAlignedBoundingBox3DFloat ------------------------------------- .. container:: message-rst-geometry-axisalignedboundingbox3dfloat-multi .. container:: message-rst-geometry-axisalignedboundingbox3dfloat-documentation .. py:class:: rst.geometry.AxisAlignedBoundingBox3DFloat An axis-aligned bounding-box in 3D. The bounding-box is constructed by spanning at :py:attr:`left_front_bottom ` a rectangular volume of lengths :py:attr:`width ` x :py:attr:`depth ` x :py:attr:`height ` along the positive directions of the X, Y and Z axis respectively. .. parsed-literal:: ^ Z | | +----------------------+ ^ | / /| | / / | | / / | :py:attr:`height ` | +----------------------+ | | | | | | | | + v | Y | | / ^ | ^ | | / :py:attr:`depth ` | / | |/ | / +----------------------+ v | / :py:attr:`left_front_bottom ` | / < :py:attr:`width ` > |/ +-----------------------------> X For a bouding-box in general orientation (i.e. not axis-aligned) see :py:class:`BoundingBox3DFloat `. .. codeauthor:: Christian Emmerich .. codeauthor:: Jan Moringen @create_collection .. py:attribute:: left_front_bottom :type: :py:class:`rst.geometry.Translation` Coordinates of the bottom left front corner. .. py:attribute:: width :type: :py:class:`FLOAT32` **Unit**: meter The width (along the X axis) of the box. .. py:attribute:: depth :type: :py:class:`FLOAT32` **Unit**: meter The depth (along the Y axis) of the box. .. py:attribute:: height :type: :py:class:`FLOAT32` **Unit**: meter The height (along the Z axis) of the box. .. container:: message-rst-geometry-axisalignedboundingbox3dfloat-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/AxisAlignedBoundingBox3DFloat.proto :lines: 44-69 :language: protobuf :emphasize-lines: 6-6,12-12,18-18,24-24 .. _message-rst-geometry-translation: Message Translation ------------------- .. container:: message-rst-geometry-translation-multi .. container:: message-rst-geometry-translation-documentation .. py:class:: rst.geometry.Translation Cartesian 3-dimensional translatory displacement or position. The displacement or position (position being translation from an origin) is expressed in world coordinates. .. codeauthor:: Arne Nordmann @create_collection .. py:attribute:: x :type: :py:class:`FLOAT64` **Unit**: meter Cartesian displacement along the x axis .. py:attribute:: y :type: :py:class:`FLOAT64` **Unit**: meter Cartesian displacement along the y axis .. py:attribute:: z :type: :py:class:`FLOAT64` **Unit**: meter Cartesian displacement along the z axis .. py:attribute:: frame_id :type: :py:class:`ASCII-STRING` Identifier for the coordinate frame of the rotation. .. container:: message-rst-geometry-translation-source :download:`Download this file ` .. literalinclude:: //home/jenkins/workspace/rst-manual-0.15-merge-simulator/upstream/RST-0.15.0-Linux/share/rst0.15/proto/stable/rst/geometry/Translation.proto :lines: 16-40 :language: protobuf :emphasize-lines: 7-7,13-13,19-19,24-24