#ifndef _DEFINE_TRAJECTORIES_H_
#define _DEFINE_TRAJECTORIES_H_

/**
 * @brief Trajectories definitions
 * @details 'a' is the ackermenn angle in degrees, and 'arc' is the distance travelled with the correspondent ackermann angle (in meters)
 */

#ifdef _trajectory_planner_nodelet_CPP_

double a[5][9] = 
// double a[3][8] = 
{
{25,25,25,25,25,-25,-25,-25,-25},
{12,12,12,12,12,-12,-12,-12,-12},
{0.01,0.01,0.01,0.01,0.01,0.01,0.01,0.01,0.01},
{-12,-12,-12,-12,-12,12,12,12,12},
{-25,-25,-25,-25,-25,25,25,25,25}
};

double arc[5][9] = 
// double arc[3][8] = 
{
{0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5},
{0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5},
{0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5},
{0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5},
{0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5,0.5}
};
#else

extern double a[5][9];
extern double arc[5][9];
#endif
#endif