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