Quadrotor

/*************************************************************

  Generalized-ICP Copyright (c) 2009 Aleksandr Segal.

  All rights reserved.

  Redistribution and use in source and binary forms, with 

  or without modification, are permitted provided that the 

  following conditions are met:

* Redistributions of source code must retain the above 

  copyright notice, this list of conditions and the 

  following disclaimer.

* Redistributions in binary form must reproduce the above

  copyright notice, this list of conditions and the 

  following disclaimer in the documentation and/or other

  materials provided with the distribution.

* The names of the contributors may not be used to endorse

  or promote products derived from this software

  without specific prior written permission.

  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND

  CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED

  WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED

  WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A

  PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE

  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, 

  INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 

  CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, 

  PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,

  DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER

  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 

  CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE 

  OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS

  SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH

  DAMAGE.

*************************************************************/

#ifndef __SCAN_H

#define __SCAN_H

#include <vector>

typedef struct {

  double mat[3][3]; // 36 bytes, row major

  int transpose;   // 4

  int symmetric;   // 4

  int diagonal;    // 4

} dgc_matrix3d_t;  // = 48 bytes per matrix      

typedef struct {

  double vec[3];    // 12 bytes

} dgc_vector3d_c_t;  // 16 bytes per vector                                                                                                                                                                       

typedef struct {

  double vec[3];    // 12 bytes

} dgc_vector3d_r_t;  // 16 bytes per vector

typedef struct {

  double                    x;

  double                    y;

  double                    z;

  double                    roll;

  double                    pitch;

  double                    yaw;

} dgc_pose_t, * dgc_pose_p;

class dgc_scan_t {

 public:

  std::vector<dgc_vector3d_c_t> points;

  std::vector<dgc_vector3d_c_t> norms;

  dgc_pose_t pose;

  int save(const char* filename);

  int load(const char *filename);

};

#endif