27 #ifndef _DEFINE_TRAJECTORIES_H_
28 #define _DEFINE_TRAJECTORIES_H_
35 #ifdef _trajectory_planner_nodelet_CPP_
40 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
41 {-20, 21, 21, 21, -20,-21,-21,-21,-21},
42 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
43 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
44 {-15, 19, 19, 19, -19,-19,-19,-19,-19},
45 {-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
46 {-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
47 {18,18,18,18,18,-20,-20,-20,-20},
48 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
49 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
51 {-17, 21, 17, 17, -21,-21,-21,-21,-21},
52 {-15, 21, 21, 21, -20,-21,-21,-21,-21},
53 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
54 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
55 {-15, 19, 19, 19, -19,-19,-19,-19,-19},
56 {-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
57 {-20, 15, 15, 22, 22, -22, -22, -22, -22},
58 {20,20,18,18,18,-20,-20,-20,-20},
59 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
60 {-15, 21, 21, 21, -21,-21,-21,-21,-21}
66 {0.25,-0.25,-0.3,-0.3,-0.35,-0.35,-0.25,-0.30,-0.25},
67 {0.5,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25},
68 {0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.300,-0.350,-0.350},
69 {0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.350,-0.350},
70 {0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.250,-0.250},
71 {0.3,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20},
72 {0.3,-0.25,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20},
73 {-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.25},
74 {0.60,-0.270,-0.270,-0.270,-0.250,-0.250,-0.250,-0.250,-0.25},
75 {0.60,-0.30,-0.30,-0.30,-0.250,-0.250,-0.250,-0.250,-0.25},
77 {0.25,-0.50,-0.25,-0.25,-0.25,-0.45,-0.30,-0.30,-0.25},
78 {0.5,-0.25,-0.25,-0.25,-0.35,-0.35,-0.35,-0.25,-0.15},
79 {0.60,-0.450,-0.250,-0.250,-0.250,-0.250,-0.350,-0.350,-0.350},
80 {0.60,-0.250,-0.250,-0.350,-0.250,-0.250,-0.350,-0.350,-0.350},
81 {0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.250,-0.250},
82 {0.3,-0.30,-0.30,-0.20,-0.20,-0.50,-0.30,-0.20,-0.20},
83 {0.40,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25},
84 {-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.25},
85 {0.60,-0.270,-0.270,-0.270,-0.250,-0.250,-0.250,-0.250,-0.25},
86 {0.60,-0.30,-0.30,-0.30,-0.250,-0.250,-0.250,-0.250,-0.25}
91 extern double a[20][9];
92 extern double arc[20][9];
double a[20][9]
Trajectories definitions.