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SonarDetectorTaskTypes.hpp
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#ifndef SONAR_DETECTION_TASK_TYPES_HPP_
#define SONAR_DETECTION_TASK_TYPES_HPP_
#include <vector>
#include <base/eigen.h>
#include <base/time.h>
#include <base/samples/pointcloud.h>
#include <base/float.h>
namespace sonar_detectors
{
struct Wall{
base::Time time;
double wall_angle;
double wall_distance;
double last_detection;
Wall()
: time(base::Time::now()), wall_angle(base::unknown<double>()), wall_distance(base::unknown<double>()){}
};
struct WallServoingDebugData
{
base::samples::Pointcloud pointCloud;
base::Time time;
std::vector<base::Vector3d> wall;
base::Vector3d relative_wall_position;
double wall_angle;
double wall_distance;
WallServoingDebugData()
: time(base::Time::now()), wall_angle(base::unknown<double>()), wall_distance(base::unknown<double>()){}
};
struct DualWallServoingDebugData
{
base::Time time;
double wall_distance_front;
double wall_distance_right;
double wall_angle;
DualWallServoingDebugData()
: time(base::Time::now()) , wall_distance_front(base::unknown<double>()), wall_distance_right(base::unknown<double>()), wall_angle(base::unknown<double>()){}
};
}
#endif