sensor_data.h

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#ifndef __SENSOR_DATA_H
#define __SENSOR_DATA_H

#include <vector>

struct ScanPoint {

  ScanPoint(double rng = 0, double ang = 0, bool is_occ = true):
    range(rng), angle(ang), is_occupied(is_occ) {}

  double range; 
  double angle; 
  bool is_occupied; 
};

struct TransformedLaserScan {
  double d_x, d_y, d_yaw; 

  std::vector<ScanPoint> points; 
  double quality; 
};

#endif