TData.h

Go to the documentation of this file.

/**************************************************************************************************
 Software License Agreement (BSD License)

 Copyright (c) 2011-2013, LAR toolkit developers - University of Aveiro - http://lars.mec.ua.pt
 All rights reserved.

 Redistribution and use in source and binary forms, with or without modification, are permitted
 provided that the following conditions are met:

  *Redistributions of source code must retain the above copyright notice, this list of
   conditions and the following disclaimer.
  *Redistributions in binary form must reproduce the above copyright notice, this list of
   conditions and the following disclaimer in the documentation and/or other materials provided
   with the distribution.
  *Neither the name of the University of Aveiro nor the names of its contributors may be used to
   endorse or promote products derived from this software without specific prior written permission.
 
 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR
 IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND
 FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
 CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
 DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
 DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER
 IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT
 OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
***************************************************************************************************/
/***************************************************/
/* 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

/* 
   Este fichero contiene los tipos de datos utilizados por todos 
*/

#ifndef M_PI
#define M_PI 3.14159265358979323846
#endif

#define MAXLASERPOINTS 720

// #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;


#endif