3dpcp/.svn/pristine/ec/ec7c1d885a7748a5e26befa00bf9c224eb1c4077.svn-base

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2012-09-16 12:33:11 +00:00
#ifndef __GRID_CELL_H__
#define __GRID_CELL_H__
#ifdef _MSC_VER
#define snprintf _snprintf
#undef _STDIO_DEFINED
#define _USE_MATH_DEFINES
#endif
#include "slam6d/scan.h"
#include <cstring>
#include <string>
using std::string;
#include <vector>
using std::vector;
typedef std::vector<char> charv;
typedef std::vector<charv> charvv;
#define CELL_TYPE_INVALID 0x00000001
#define CELL_TYPE_ABOVE_DELTA_R 0x00000002
#define CELL_TYPE_BELOW_DELTA_R 0x00000004
#define CELL_TYPE_ABOVE_DELTA_Y 0x00000008
#define CELL_TYPE_BELOW_DELTA_Y 0x00000010
#define CELL_TYPE_ABOVE_R 0x00000020
#define CELL_TYPE_BELOW_R 0x00000040
#define CELL_TYPE_ABOVE_LIDAR 0x00000080
#define CELL_TYPE_IN_OBSTACLE_RANGE 0x00000100
#define CELL_TYPE_STATIC 0x00000200
#define CELL_TYPE_MOVING 0x00000400
#define CELL_TYPE_GROUND 0x00000800
typedef std::vector<Point*> cell;
typedef std::vector<cell> cellColumn;
typedef std::vector<cellColumn> cellArray;
class cellFeature
{
public:
float ave_x,ave_y,ave_z;
float min_x,min_y,min_z;
float max_x,max_y,max_z;
float delta_y;
int circleNum;
int size;
unsigned int cellType;
cell* pCell;
int columnID;
int cellID;
};
typedef std::vector<cellFeature> cellFeatureColumn;
typedef std::vector<cellFeatureColumn> cellFeatureArray;
#endif //__GRID_CELL_H__