58 lines
1.4 KiB
C
58 lines
1.4 KiB
C
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#ifndef __GRID_CELL_H__
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#define __GRID_CELL_H__
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#ifdef _MSC_VER
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#define snprintf _snprintf
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#undef _STDIO_DEFINED
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#define _USE_MATH_DEFINES
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#endif
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#include "slam6d/scan.h"
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#include <cstring>
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#include <string>
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using std::string;
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#include <vector>
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using std::vector;
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typedef std::vector<char> charv;
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typedef std::vector<charv> charvv;
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#define CELL_TYPE_INVALID 0x00000001
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#define CELL_TYPE_ABOVE_DELTA_R 0x00000002
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#define CELL_TYPE_BELOW_DELTA_R 0x00000004
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#define CELL_TYPE_ABOVE_DELTA_Y 0x00000008
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#define CELL_TYPE_BELOW_DELTA_Y 0x00000010
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#define CELL_TYPE_ABOVE_R 0x00000020
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#define CELL_TYPE_BELOW_R 0x00000040
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#define CELL_TYPE_ABOVE_LIDAR 0x00000080
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#define CELL_TYPE_IN_OBSTACLE_RANGE 0x00000100
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#define CELL_TYPE_STATIC 0x00000200
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#define CELL_TYPE_MOVING 0x00000400
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#define CELL_TYPE_GROUND 0x00000800
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typedef std::vector<Point*> cell;
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typedef std::vector<cell> cellColumn;
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typedef std::vector<cellColumn> cellArray;
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class cellFeature
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{
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public:
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float ave_x,ave_y,ave_z;
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float min_x,min_y,min_z;
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float max_x,max_y,max_z;
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float delta_y;
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int circleNum;
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int size;
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unsigned int cellType;
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cell* pCell;
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int columnID;
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int cellID;
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};
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typedef std::vector<cellFeature> cellFeatureColumn;
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typedef std::vector<cellFeatureColumn> cellFeatureArray;
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#endif //__GRID_CELL_H__
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