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structs.h
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structs.h
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/*
* structs.h
* Copyright (C) 2011 Eric Bakan
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/**
* A bunch of useful structures
* for Monte-Carlo localization
*/
#ifndef STRUCTURES_H
#define STRUCTURES_H
#include <stdint.h>
//comment this line out to use standard trig functions
#define USE_LOOKUPS 1
#ifdef USE_LOOKUPS
#include "lookups.h"
#define sinf(x) sin_lookup(x)
#define cosf(x) cos_lookup(x)
#define tanf(x) tan_lookup(x)
#endif//USE_LOOKUPS
typedef struct
{
float x;
float y;
float theta;
} Pose;
typedef struct
{
Pose pose;
float weight;
} Particle;
typedef struct
{
float delta_angle;
float delta_length;
} Command;
typedef struct
{
float laserrange;
} SensorData;
typedef struct
{
float top;
float bottom;
float left;
float right;
} BoundingBox;
#endif//STRUCTURES_H