import "LinearAlgebra.proto";

message EulerAngles {
	required double pitch = 1 [default = 0];
	required double roll = 2 [default = 0];
	required double yaw = 3 [default = 0];
}

message Heading {
  required Vector3 direction = 1;
  optional double timestamp = 2;
  optional double magneticHeading = 3;
  optional double trueHeading = 4;
}

message Pose {
  optional Matrix3 orientation = 1;
	optional EulerAngles euler = 2;
	optional Vector3 position = 3;
  optional Heading heading = 4;
  optional double timestamp = 5;
}