navtypes.h

#pragma once
 
#include <vector>
 
#include <Eigen/Core>
 
namespace navtypes {

struct gpscoords_t {
    double lat;
    double lon;
    double alt;
};
 
/* @brief Euler angles to represent orientation. Rotation ordering is XYZ extrinsic
 *        rotations.
 *
 * @see https://en.wikipedia.org/wiki/Euler_angles#Tait%E2%80%93Bryan_angles
 */
struct eulerangles_t {
    double roll;
    double pitch;
    double yaw;
};
 
using pose_t = Eigen::Vector3d;      // Robot pose: x, y, theta
using transform_t = Eigen::Matrix3d; // a pose in matrix form; see toPose below
using trajectory_t = std::vector<transform_t>;
 
template <int rows, int cols>
using Matrixd = Eigen::Matrix<double, rows, cols>;
 
template <int dim>
using Vectord = Eigen::Matrix<double, dim, 1>;
 
template <int dim, int dim2 = 1>
using Arrayd = Eigen::Array<double, dim, dim2>;
 
using point_t =
    Eigen::Vector3d; // x, y, 1 (or 0, 0, 0 to represent "no data")
                     // The 1 at the end makes calculating affine transforms easier.
using points_t = std::vector<point_t>;
 
} // namespace navtypes