TData.h
00001 /***************************************************/
00002 /* Last Revised: 
00003 $Id: TData.h 8465 2009-12-16 00:44:13Z gbiggs $
00004 */
00005 /***************************************************/
00006 /*
00007  *  This program is free software; you can redistribute it and/or modify
00008  *  it under the terms of the GNU General Public License as published by
00009  *  the Free Software Foundation; either version 2 of the License, or
00010  *  (at your option) any later version.
00011  *
00012  *  This program is distributed in the hope that it will be useful,
00013  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00014  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00015  *  GNU General Public License for more details.
00016  *
00017  *  You should have received a copy of the GNU General Public License
00018  *  along with this program; if not, write to the Free Software
00019  *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
00020  *
00021  */
00022 #ifndef TData
00023 #define TData
00024 
00025 #ifdef __cplusplus
00026 extern "C" {
00027 #endif
00028 
00029 /* 
00030    Este fichero contiene los tipos de datos utilizados por todos 
00031 */
00032 
00033 #ifndef M_PI
00034 #define M_PI 3.14159265358979323846
00035 #endif
00036 
00037 #define MAXLASERPOINTS 361
00038 
00039 #define RADIO 0.4F  /* Radio del robot */
00040 
00041 typedef struct {
00042   float x;
00043   float y;
00044 }Tpf;
00045 
00046 
00047 typedef struct {
00048   float r;
00049   float t;
00050 }Tpfp;
00051 
00052 typedef struct {
00053   int x;
00054   int y;
00055 }Tpi;
00056 
00057 typedef struct {
00058   float x;
00059   float y;
00060   float tita;
00061 }Tsc;
00062 
00063 typedef struct {
00064   int numPuntos;
00065   Tpf laserC[MAXLASERPOINTS];  // Cartesian coordinates
00066   Tpfp laserP[MAXLASERPOINTS]; // Polar coordinates
00067 }Tscan;
00068 
00069 
00070 
00071 
00072 // Associations information
00073 typedef struct{
00074   float rx,ry,nx,ny,dist;                               // Point (nx,ny), static corr (rx,ry), dist 
00075   int numDyn;                                                   // Number of dynamic associations
00076   float unknown;                                                // Unknown weight
00077   int index;                                                    // Index within the original scan
00078   int L,R;
00079 }TAsoc;
00080 
00081 #ifdef __cplusplus
00082 }
00083 #endif
00084 
00085 #endif

Last updated 12 September 2005 21:38:45