00001 00007 #ifndef __SENSOR_DATA_H 00008 #define __SENSOR_DATA_H 00009 00010 #include <vector> 00011 00016 struct ScanPoint { 00017 00022 ScanPoint(double rng = 0, double ang = 0, bool is_occ = true): 00023 range(rng), angle(ang), is_occupied(is_occ) {} 00024 00025 double range; 00026 double angle; 00027 bool is_occupied; 00028 }; 00029 00033 struct TransformedLaserScan { 00034 double d_x, d_y, d_yaw; 00035 00036 std::vector<ScanPoint> points; 00037 double quality; 00038 }; 00039 00040 #endif