define_trajectories.h

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#ifndef _DEFINE_TRAJECTORIES_H_
#define _DEFINE_TRAJECTORIES_H_

#ifdef _trajectory_planner_nodelet_CPP_

double a[20][9] = 
// double a[3][8] = 
{
{-15, 21, 21, 21, -21,-21,-21,-21,-21},
{-20, 21, 21, 21, -20,-21,-21,-21,-21},
{-15, 21, 21, 21, -21,-21,-21,-21,-21},
{-15, 21, 21, 21, -21,-21,-21,-21,-21},
{-15, 19, 19, 19, -19,-19,-19,-19,-19},
{-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
{-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
{18,18,18,18,18,-20,-20,-20,-20},
{-15, 21, 21, 21, -21,-21,-21,-21,-21},
{-15, 21, 21, 21, -21,-21,-21,-21,-21},

{-17, 21, 17, 17, -21,-21,-21,-21,-21},
{-15, 21, 21, 21, -20,-21,-21,-21,-21},
{-15, 21, 21, 21, -21,-21,-21,-21,-21},
{-15, 21, 21, 21, -21,-21,-21,-21,-21},
{-15, 19, 19, 19, -19,-19,-19,-19,-19},
{-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
{-20, 15, 15, 22, 22, -22, -22, -22, -22},
{20,20,18,18,18,-20,-20,-20,-20},
{-15, 21, 21, 21, -21,-21,-21,-21,-21},
{-15, 21, 21, 21, -21,-21,-21,-21,-21}
};

double arc[20][9] = 
// double arc[3][8] = 
{
{0.25,-0.25,-0.3,-0.3,-0.35,-0.35,-0.25,-0.30,-0.25},
{0.5,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25},
{0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.300,-0.350,-0.350},
{0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.350,-0.350},
{0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.250,-0.250},
{0.3,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20},
{0.3,-0.25,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20},
{-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.25},
{0.60,-0.270,-0.270,-0.270,-0.250,-0.250,-0.250,-0.250,-0.25},
{0.60,-0.30,-0.30,-0.30,-0.250,-0.250,-0.250,-0.250,-0.25},

{0.25,-0.50,-0.25,-0.25,-0.25,-0.45,-0.30,-0.30,-0.25},
{0.5,-0.25,-0.25,-0.25,-0.35,-0.35,-0.35,-0.25,-0.15},
{0.60,-0.450,-0.250,-0.250,-0.250,-0.250,-0.350,-0.350,-0.350},
{0.60,-0.250,-0.250,-0.350,-0.250,-0.250,-0.350,-0.350,-0.350},
{0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.250,-0.250},
{0.3,-0.30,-0.30,-0.20,-0.20,-0.50,-0.30,-0.20,-0.20},
{0.40,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25},
{-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.25},
{0.60,-0.270,-0.270,-0.270,-0.250,-0.250,-0.250,-0.250,-0.25},
{0.60,-0.30,-0.30,-0.30,-0.250,-0.250,-0.250,-0.250,-0.25}

};
#else

extern double a[20][9];
extern double arc[20][9];
#endif
#endif