basic_types.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014  Jose Luis Blanco Claraco (University of Almeria)    |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under GNU General Public License version 3                  |
  |   See <http://www.gnu.org/licenses/>                                    |
  +-------------------------------------------------------------------------+ */
#pragma once

// Misc. types & forwards declarations

#include <string>

class b2World;
class b2Body;
class b2Fixture;

#define INVISIBLE_FIXTURE_USER_DATA \
        (reinterpret_cast<void*>(       \
                -1))  //!< Used to signal a Box2D fixture as "invisible" to sensors.

namespace rapidxml
{
// Forward declarations
template <class Ch>
class xml_node;
template <class Ch>
class xml_attribute;
template <class Ch>
class xml_document;
}

namespace mrpt
{
namespace opengl
{
class COpenGLScene;
class CSetOfObjects;
}
namespace slam
{
class CObservation;
}
}

namespace mvsim
{
class World;
class VehicleBase;

struct TSimulContext
{
        b2World* b2_world;
        double simul_time;  
        double dt;  
};

struct vec3
{
        double vals[3];
        vec3() {}
        vec3(double x, double y, double th)
        {
                vals[0] = x;
                vals[1] = y;
                vals[2] = th;
        }
};

struct vec2
{
        double vals[2];
        vec2() {}
        vec2(double x, double y)
        {
                vals[0] = x;
                vals[1] = y;
        }
};
}