TData.h
1/***************************************************/
2/* Last Revised:
3$Id$
4*/
5/***************************************************/
6/*
7 * This program is free software; you can redistribute it and/or modify
8 * it under the terms of the GNU General Public License as published by
9 * the Free Software Foundation; either version 2 of the License, or
10 * (at your option) any later version.
11 *
12 * This program is distributed in the hope that it will be useful,
13 * but WITHOUT ANY WARRANTY; without even the implied warranty of
14 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
15 * GNU General Public License for more details.
16 *
17 * You should have received a copy of the GNU General Public License
18 * along with this program; if not, write to the Free Software
19 * Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
20 *
21 */
22#ifndef TData
23#define TData
24
25#ifdef __cplusplus
26extern "C" {
27#endif
28
29/*
30 Este fichero contiene los tipos de datos utilizados por todos
31*/
32
33#ifndef M_PI
34#define M_PI 3.14159265358979323846
35#endif
36
37#define MAXLASERPOINTS 361
38
39#define RADIO 0.4F /* Radio del robot */
40
41typedef struct {
42 float x;
43 float y;
44}Tpf;
45
46
47typedef struct {
48 float r;
49 float t;
50}Tpfp;
51
52typedef struct {
53 int x;
54 int y;
55}Tpi;
56
57typedef struct {
58 float x;
59 float y;
60 float tita;
61}Tsc;
62
63typedef struct {
64 int numPuntos;
65 Tpf laserC[MAXLASERPOINTS]; // Cartesian coordinates
66 Tpfp laserP[MAXLASERPOINTS]; // Polar coordinates
67}Tscan;
68
69
70
71
72// Associations information
73typedef struct{
74 float rx,ry,nx,ny,dist; // Point (nx,ny), static corr (rx,ry), dist
75 int numDyn; // Number of dynamic associations
76 float unknown; // Unknown weight
77 int index; // Index within the original scan
78 int L,R;
79}TAsoc;
80
81#ifdef __cplusplus
82}
83#endif
84
85#endif
Definition TData.h:73
Definition TData.h:41
Definition TData.h:47
Definition TData.h:52
Definition TData.h:57
Definition TData.h:63