TData.h
1 /***************************************************/
2 /* Last Revised:
3 $Id: TData.h 8465 2009-12-16 00:44:13Z gbiggs $
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., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
20  *
21  */
22 #ifndef TData
23 #define TData
24 
25 #ifdef __cplusplus
26 extern "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 
41 typedef struct {
42  float x;
43  float y;
44 }Tpf;
45 
46 
47 typedef struct {
48  float r;
49  float t;
50 }Tpfp;
51 
52 typedef struct {
53  int x;
54  int y;
55 }Tpi;
56 
57 typedef struct {
58  float x;
59  float y;
60  float tita;
61 }Tsc;
62 
63 typedef 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
73 typedef 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

Last updated 12 September 2005 21:38:45