syntax = "proto2";
package EleFence;

message Region
{
    required float minx=1;
    required float maxx=2;
    required float miny=3;
    required float maxy=4;
}

message Transform2d
{
    optional float m00=1 [default=1.0];
    optional float m01=2 [default=0.0];
    optional float m02=3 [default=0.0];
    optional float m10=4 [default=0.0];
    optional float m11=5 [default=1.0];
    optional float m12=6 [default=0.0];
}

message lidarParam
{
    optional string topic=1;
    optional Transform2d transform=2;
    optional float dist_limit=3 [default=8.0];
}

message globalParam
{
    repeated lidarParam lidar_params=1;
    repeated Region regions=2;
}