spur-odometry.h

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// Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated.
//
// Permission is hereby granted, free of charge, to any person obtaining a copy
// of this software and associated documentation files (the "Software"), to
// deal in the Software without restriction, including without limitation the
// rights to use, copy, modify, merge, publish, distribute, sublicense, and/or
// sell copies of the Software, and to permit persons to whom the Software is
// furnished to do so, subject to the following conditions:
//
// The above copyright notice and this permission notice shall be included in
// all copies or substantial portions of the Software.
//
// THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
// IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
// FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL
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#ifndef SSMTYPE_SPUR_ODOMETRY_H
#define SSMTYPE_SPUR_ODOMETRY_H

#define SNAME_ODOMETRY "spur_odometry"
#define SNAME_GLOBAL "spur_global"
#define SNAME_ADJUST "spur_adjust"

typedef struct
{
  double x;
  double y;
  double theta;
  double v;
  double w;
} Spur_Odometry;

typedef struct
{
  double radius_r;
  double radius_l;
  double tread;
} Spur_Odometry_Property;

#endif  // SSMTYPE_SPUR_ODOMETRY_H