22 lines
392 B
Protocol Buffer
22 lines
392 B
Protocol Buffer
syntax = "proto3";
|
||
package aimdk.protocol;
|
||
|
||
import public "aimdk/protocol/common/vec3.proto";
|
||
import public "aimdk/protocol/common/timestamp.proto";
|
||
|
||
|
||
/**
|
||
* @brief 力矩
|
||
*/
|
||
message Wrench {
|
||
Vec3 force = 1; // force 单位：N
|
||
Vec3 torque = 2; // torque 单位：N*m
|
||
}
|
||
|
||
/**
|
||
* @brief 力矩，带时间戳
|
||
*/
|
||
message WrenchStamped {
|
||
Timestamp timestamp = 1;
|
||
Wrench wrench = 2;
|
||
} |