/******************************************************************************
 * Copyright 2017 The Apollo Authors. All Rights Reserved.
 *
 * 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 = "proto2";

package apollo.localization;

import "modules/common_msgs/basic_msgs/header.proto";
import "modules/common_msgs/basic_msgs/geometry.proto";
import "modules/common_msgs/basic_msgs/pnc_point.proto";
import "modules/common_msgs/localization_msgs/localization_status.proto";
import "modules/common_msgs/localization_msgs/pose.proto";

message Uncertainty {
  // Standard deviation of position, east/north/up in meters.
  optional apollo.common.Point3D position_std_dev = 1;

  // Standard deviation of quaternion qx/qy/qz, unitless.
  optional apollo.common.Point3D orientation_std_dev = 2;

  // Standard deviation of linear velocity, east/north/up in meters per second.
  optional apollo.common.Point3D linear_velocity_std_dev = 3;

  // Standard deviation of linear acceleration, right/forward/up in meters per
  // square second.
  optional apollo.common.Point3D linear_acceleration_std_dev = 4;

  // Standard deviation of angular velocity, right/forward/up in radians per
  // second.
  optional apollo.common.Point3D angular_velocity_std_dev = 5;

  // TODO: Define covariance items when needed.
}

message LocalizationEstimate {
  optional apollo.common.Header header = 1;
  optional apollo.localization.Pose pose = 2;
  optional Uncertainty uncertainty = 3;

  // The time of pose measurement, seconds since 1970-1-1 (UNIX time).
  optional double measurement_time = 4;  // In seconds.

  // Future trajectory actually driven by the drivers
  repeated apollo.common.TrajectoryPoint trajectory_point = 5;

  // msf status
  optional MsfStatus msf_status = 6;
  // msf quality
  optional MsfSensorMsgStatus sensor_status = 7;
}

enum MeasureState {
  OK = 0;
  WARNNING = 1;
  ERROR = 2;
  CRITICAL_ERROR = 3;
  FATAL_ERROR = 4;
}

message LocalizationStatus {
  optional apollo.common.Header header = 1;
  optional MeasureState fusion_status = 2;
  optional MeasureState gnss_status = 3 [deprecated = true];
  optional MeasureState lidar_status = 4 [deprecated = true];
  // The time of pose measurement, seconds since 1970-1-1 (UNIX time).
  optional double measurement_time = 5;  // In seconds.
  optional string state_message = 6;
}