blob: a2b90824671fdff90624740cfebd20383938f445 (
plain)
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
|
#ifndef __TORI_INCLUDES_H
#define __TORI_INCLUDES_H
#include <stddef.h>
#include <math.h>
#include <stdint.h>
#include "linmath.h"
#define PointToFlts(x) ((FLT*)(x))
typedef struct
{
FLT x;
FLT y;
FLT 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
|
