00001 /* 00002 * Copyright 2015 Fadri Furrer, ASL, ETH Zurich, Switzerland 00003 * Copyright 2015 Michael Burri, ASL, ETH Zurich, Switzerland 00004 * Copyright 2015 Markus Achtelik, ASL, ETH Zurich, Switzerland 00005 * 00006 * Licensed under the Apache License, Version 2.0 (the "License"); 00007 * you may not use this file except in compliance with the License. 00008 * You may obtain a copy of the License at 00009 * 00010 * http://www.apache.org/licenses/LICENSE-2.0 00011 00012 * Unless required by applicable law or agreed to in writing, software 00013 * distributed under the License is distributed on an "AS IS" BASIS, 00014 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 00015 * See the License for the specific language governing permissions and 00016 * limitations under the License. 00017 */ 00018 00019 #ifndef PLANNING_MSGS_EIGEN_MAV_MSGS_H 00020 #define PLANNING_MSGS_EIGEN_MAV_MSGS_H 00021 00022 #include <Eigen/Eigen> 00023 #include <vector> 00024 00025 namespace planning_msgs { 00026 00027 struct EigenPolynomialSegment { 00028 EigenPolynomialSegment() : segment_time_ns(0), num_coeffs(0) {}; 00029 00030 Eigen::VectorXd x; 00031 Eigen::VectorXd y; 00032 Eigen::VectorXd z; 00033 Eigen::VectorXd yaw; 00034 uint64_t segment_time_ns; 00035 int num_coeffs; 00036 }; 00037 00038 typedef std::vector<EigenPolynomialSegment> EigenPolynomialTrajectory; 00039 00040 } 00041 00042 #endif