00001 // Copyright (c) 2010-2016 The YP-Spur Authors, except where otherwise indicated. 00002 // 00003 // Permission is hereby granted, free of charge, to any person obtaining a copy 00004 // of this software and associated documentation files (the "Software"), to 00005 // deal in the Software without restriction, including without limitation the 00006 // rights to use, copy, modify, merge, publish, distribute, sublicense, and/or 00007 // sell copies of the Software, and to permit persons to whom the Software is 00008 // furnished to do so, subject to the following conditions: 00009 // 00010 // The above copyright notice and this permission notice shall be included in 00011 // all copies or substantial portions of the Software. 00012 // 00013 // THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR 00014 // IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, 00015 // FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL 00016 // THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER 00017 // LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, 00018 // OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE 00019 // SOFTWARE. 00020 00021 #ifndef SSMTYPE_SPUR_ODOMETRY_H 00022 #define SSMTYPE_SPUR_ODOMETRY_H 00023 00024 #define SNAME_ODOMETRY "spur_odometry" 00025 #define SNAME_GLOBAL "spur_global" 00026 #define SNAME_ADJUST "spur_adjust" 00027 00028 typedef struct 00029 { 00030 double x; 00031 double y; 00032 double theta; 00033 double v; 00034 double w; 00035 } Spur_Odometry; 00036 00037 typedef struct 00038 { 00039 double radius_r; 00040 double radius_l; 00041 double tread; 00042 } Spur_Odometry_Property; 00043 00044 #endif // SSMTYPE_SPUR_ODOMETRY_H