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#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;
};
// float float_value;
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;
typedef struct
{
// row, column, (0,0) in upper left
double val[3][3];
} Matrix3x3;
//#define TORI_DEBUG
#endif
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