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TData.h
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/***************************************************/
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/* Last Revised:
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$Id$
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*/
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/***************************************************/
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/*
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* This program is free software; you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation; either version 2 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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#ifndef TData
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#define TData
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#ifdef __cplusplus
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extern
"C"
{
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#endif
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/*
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Este fichero contiene los tipos de datos utilizados por todos
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*/
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#ifndef M_PI
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#define M_PI 3.14159265358979323846
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#endif
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#define MAXLASERPOINTS 361
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#define RADIO 0.4F
/* Radio del robot */
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typedef
struct
{
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float
x;
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float
y;
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}
Tpf
;
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typedef
struct
{
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float
r;
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float
t;
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}
Tpfp
;
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typedef
struct
{
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int
x;
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int
y;
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}
Tpi
;
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typedef
struct
{
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float
x;
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float
y;
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float
tita;
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}
Tsc
;
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typedef
struct
{
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int
numPuntos;
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Tpf
laserC[MAXLASERPOINTS];
// Cartesian coordinates
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Tpfp
laserP[MAXLASERPOINTS];
// Polar coordinates
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}
Tscan
;
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// Associations information
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typedef
struct
{
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float
rx,ry,nx,ny,dist;
// Point (nx,ny), static corr (rx,ry), dist
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int
numDyn;
// Number of dynamic associations
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float
unknown;
// Unknown weight
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int
index;
// Index within the original scan
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int
L,R;
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}
TAsoc
;
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#ifdef __cplusplus
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}
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#endif
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#endif
TAsoc
Definition
TData.h:73
Tpf
Definition
TData.h:41
Tpfp
Definition
TData.h:47
Tpi
Definition
TData.h:52
Tsc
Definition
TData.h:57
Tscan
Definition
TData.h:63
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