00001 00004 /***************************************************************************** 00005 ** Ifdefs 00006 *****************************************************************************/ 00007 00008 #ifndef cost_map_core_TYPEDEFS_HPP_ 00009 #define cost_map_core_TYPEDEFS_HPP_ 00010 00011 /***************************************************************************** 00012 ** Includes 00013 *****************************************************************************/ 00014 00015 // primarily to bring in the grid_map eigen plugins 00016 #include <grid_map_core/TypeDefs.hpp> 00017 #include <grid_map_core/BufferRegion.hpp> 00018 #include <grid_map_core/Polygon.hpp> 00019 00020 /***************************************************************************** 00021 ** Namespaces 00022 *****************************************************************************/ 00023 00024 namespace cost_map { 00025 00026 /***************************************************************************** 00027 ** Typedefs 00028 *****************************************************************************/ 00029 // the biggie - this one is different 00030 typedef Eigen::Matrix<unsigned char, Eigen::Dynamic, Eigen::Dynamic> Matrix; 00031 typedef Matrix::Scalar DataType; 00032 extern const unsigned char NO_INFORMATION; 00033 extern const unsigned char LETHAL_OBSTACLE; 00034 extern const unsigned char INSCRIBED_OBSTACLE; 00035 extern const unsigned char FREE_SPACE; 00036 00037 typedef grid_map::Matrix DataMatrix; 00038 //typedef grid_map::Matrix Matrix; 00039 00040 // these are in grid_map_core/TypeDefs.hpp, just bring here for convenience 00041 typedef grid_map::Position Position; 00042 typedef grid_map::Vector Vector; 00043 typedef grid_map::Position3 Position3; 00044 typedef grid_map::Vector3 Vector3; 00045 typedef grid_map::Index Index; 00046 typedef grid_map::Size Size; 00047 typedef grid_map::Length Length; 00048 typedef grid_map::Time Time; 00049 00050 // common classes 00051 typedef grid_map::BufferRegion BufferRegion; 00052 typedef grid_map::Polygon Polygon; 00053 00054 /***************************************************************************** 00055 ** Trailers 00056 *****************************************************************************/ 00057 00058 } /* namespace cost_map */ 00059 00060 #endif /* cost_map_core_TYPEDEFS_HPP_ */