{
  "description": "Basic-YPR: Basic GeoPose using yaw, pitch, and roll to specify orientation",
  "definitions": {
    "angles": {
      "type": "object",
      "properties": {
        "yaw": {
          "type": "number",
          "x-jsonld-id": "http://example.com/geopose/yaw"
        },
        "pitch": {
          "type": "number",
          "x-jsonld-id": "http://example.com/geopose/pitch"
        },
        "roll": {
          "type": "number",
          "x-jsonld-id": "http://example.com/geopose/roll"
        }
      },
      "required": [
        "yaw",
        "pitch",
        "roll"
      ]
    },
    "Position": {
      "type": "object",
      "properties": {
        "lat": {
          "type": "number",
          "x-jsonld-id": "http://www.w3.org/2003/01/geo/wgs84_pos#lat"
        },
        "lon": {
          "type": "number",
          "x-jsonld-id": "http://www.w3.org/2003/01/geo/wgs84_pos#long"
        },
        "h": {
          "type": "number",
          "x-jsonld-id": "http://example.com/geopose/h"
        }
      },
      "required": [
        "lat",
        "lon",
        "h"
      ]
    }
  },
  "type": "object",
  "properties": {
    "position": {
      "$ref": "#/definitions/Position",
      "x-jsonld-id": "http://example.com/geopose/position"
    },
    "angles": {
      "$ref": "#/definitions/angles",
      "x-jsonld-id": "http://example.com/geopose/angles"
    }
  },
  "required": [
    "position",
    "angles"
  ],
  "x-jsonld-prefixes": {
    "geopose": "http://example.com/geopose/",
    "geo": "http://www.w3.org/2003/01/geo/wgs84_pos#"
  }
}