entity_factory.proto

/*
 * Copyright (C) 2017 Open Source Robotics Foundation
 *
 * 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 = "EntityFactoryProtos";

/// \ingroup gz.msgs
/// \interface EntityFactory
/// \brief Message to create new entities at a given pose.
/// An entity can be created in one of the following ways:
///
/// 1. From an SDF string (sdf)
/// 2. From an SDF file (sdf_filename)
/// 3. From a message (model / light)
/// 4. Cloning an existing entity (clone_name)

import "gz/msgs/header.proto";
import "gz/msgs/light.proto";
import "gz/msgs/model.proto";
import "gz/msgs/pose.proto";
import "gz/msgs/spherical_coordinates.proto";

message EntityFactory
{
  /// \brief Optional header data
  Header header                    = 1;

  /// \brief Only one method is supported at a time
  oneof from
  {
    /// \brief SDF description in string format.
    string sdf                     = 2;

    /// \brief Full path to SDF file.
    string sdf_filename            = 3;

    /// \brief Description of model to be inserted.
    Model model                    = 4;

    /// \brief Description of light to be inserted.
    Light light                    = 5;

    /// \brief Name of entity to clone.
    string clone_name              = 6;
  }

  /// \brief Pose where the entity will be spawned in the world.
  /// If set, `spherical_coordinates` will be ignored.
  Pose pose                        = 7;

  /// \brief New name for the entity, overrides the name on the SDF.
  string name                      = 8;

  /// \brief Whether the server is allowed to rename the entity in case of
  /// overlap with existing entities.
  bool allow_renaming              = 9;

  /// \brief The pose will be defined relative to this frame. If left empty,
  /// the "world" frame will be used.
  string relative_to               = 10;

  /// \brief Spherical coordinates where the entity will be spawned in the
  /// world.
  /// If `pose` is also set:
  /// * `pose.position` is ignored in favor of latitude, longitude and
  ///   elevation.
  /// * `pose.orientation` is used in conjunction with heading:
  ///       Quaternion::fromEuler(0, 0, heading) * pose.orientation
  SphericalCoordinates spherical_coordinates = 11;
}