TData.h
/***************************************************/
/* Last Revised:
$Id: TData.h 8465 2009-12-16 00:44:13Z gbiggs $
*/
/***************************************************/
/*
* This program is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program; if not, write to the Free Software
* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
*
*/
#ifndef TData
#define TData
#ifdef __cplusplus
extern "C" {
#endif
/*
Este fichero contiene los tipos de datos utilizados por todos
*/
#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif
#define MAXLASERPOINTS 361
#define RADIO 0.4F /* Radio del robot */
typedef struct {
float x;
float y;
}Tpf;
typedef struct {
float r;
float t;
}Tpfp;
typedef struct {
int x;
int y;
}Tpi;
typedef struct {
float x;
float y;
float tita;
}Tsc;
typedef struct {
int numPuntos;
Tpf laserC[MAXLASERPOINTS]; // Cartesian coordinates
Tpfp laserP[MAXLASERPOINTS]; // Polar coordinates
}Tscan;
// Associations information
typedef struct{
float rx,ry,nx,ny,dist; // Point (nx,ny), static corr (rx,ry), dist
int numDyn; // Number of dynamic associations
float unknown; // Unknown weight
int index; // Index within the original scan
int L,R;
}TAsoc;
#ifdef __cplusplus
}
#endif
#endif
Tpi
Definition: TData.h:52
Tpf
Definition: TData.h:41
Tsc
Definition: TData.h:57
TAsoc
Definition: TData.h:73
Tpfp
Definition: TData.h:47
Tscan
Definition: TData.h:63

Last updated 12 September 2005 21:38:45