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Diffstat (limited to 'tools/lighthousefind_tori/tori_includes.h')
-rw-r--r-- | tools/lighthousefind_tori/tori_includes.h | 60 |
1 files changed, 60 insertions, 0 deletions
diff --git a/tools/lighthousefind_tori/tori_includes.h b/tools/lighthousefind_tori/tori_includes.h new file mode 100644 index 0000000..4cfbcdc --- /dev/null +++ b/tools/lighthousefind_tori/tori_includes.h @@ -0,0 +1,60 @@ +#ifndef __TORI_INCLUDES_H +#define __TORI_INCLUDES_H + +#include <stddef.h> +#include <math.h> +#include <stdint.h> + + +typedef struct +{ + double x; + double y; + double z; +} Point; + +typedef struct +{ + Point point; // location of the sensor on the tracked object; + Point normal; // unit vector indicating the normal for the sensor + double theta; // "horizontal" angular measurement from lighthouse radians + double phi; // "vertical" angular measurement from lighthouse in radians. +} TrackedSensor; + +typedef struct +{ + size_t numSensors; + TrackedSensor sensor[0]; +} TrackedObject; + + +#ifndef M_PI +#define M_PI 3.14159265358979323846264338327 +#endif + +#define SQUARED(x) ((x)*(x)) + +typedef union +{ + struct + { + unsigned char Blue; + unsigned char Green; + unsigned char Red; + unsigned char Alpha; + }; + uint32_t long_value; +} RGBValue; + +static RGBValue RED = { .Red = 255, .Green = 0, .Blue = 0, .Alpha = 125 }; +static RGBValue GREEN = { .Red = 0, .Green = 255, .Blue = 0, .Alpha = 125 }; +static RGBValue BLUE = { .Red = 0, .Green = 0, .Blue = 255, .Alpha = 125 }; + +static const double WORLD_BOUNDS = 100; +#define MAX_TRACKED_POINTS 40 + +static const float DefaultPointsPerOuterDiameter = 60; + +//#define TORI_DEBUG + +#endif |