basic_types.h

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
#pragma once
 
// Misc. types & forwards declarations
 
#include <mrpt/math/TPoint2D.h>
#include <mrpt/math/TPose2D.h>
#include <mrpt/math/TTwist2D.h>
 
#include <cstdint>      // uintptr_t
#include <string>
#include <vector>
 
class b2World;
class b2Body;
class b2Fixture;
 
namespace rapidxml
{
// Forward declarations
template <class Ch>
class xml_node;
template <class Ch>
class xml_attribute;
template <class Ch>
class xml_document;
}  // namespace rapidxml
 
namespace mrpt
{
namespace opengl
{
class CSetOfObjects;
}  // namespace opengl
namespace slam
{
class CObservation;
}
}  // namespace mrpt
 
namespace mvsim
{
class World;
class VehicleBase;
template <typename Ch = char>
class JointXMLnode;
 
struct TSimulContext
{
        b2World* b2_world = nullptr;
        World* world = nullptr;
        double simul_time = 0;  
        double dt = 0;  
};
 
constexpr uintptr_t INVISIBLE_FIXTURE_USER_DATA = 1;
 
struct TJoyStickEvent
{
        std::vector<float> axes;
        std::vector<bool> buttons;
 
        TJoyStickEvent() = default;
};
 
}  // namespace mvsim