trajectory_planner: /home/laradmin/lar/planning/trajectory_planner/src/define

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00027 #ifndef _DEFINE_TRAJECTORIES_H_
00028 #define _DEFINE_TRAJECTORIES_H_
00029 
00035 #ifdef _trajectory_planner_nodelet_CPP_
00036 
00037 double a[20][9] = 
00038 // double a[3][8] = 
00039 {
00040 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
00041 {-20, 21, 21, 21, -20,-21,-21,-21,-21},
00042 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
00043 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
00044 {-15, 19, 19, 19, -19,-19,-19,-19,-19},
00045 {-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
00046 {-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
00047 {18,18,18,18,18,-20,-20,-20,-20},
00048 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
00049 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
00050 
00051 {-17, 21, 17, 17, -21,-21,-21,-21,-21},
00052 {-15, 21, 21, 21, -20,-21,-21,-21,-21},
00053 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
00054 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
00055 {-15, 19, 19, 19, -19,-19,-19,-19,-19},
00056 {-20, 19.6, 19.6, 19.6, 19.6, -19.6, -19.6, -19.6, -19.6},
00057 {-20, 15, 15, 22, 22, -22, -22, -22, -22},
00058 {20,20,18,18,18,-20,-20,-20,-20},
00059 {-15, 21, 21, 21, -21,-21,-21,-21,-21},
00060 {-15, 21, 21, 21, -21,-21,-21,-21,-21}
00061 };
00062 
00063 double arc[20][9] = 
00064 // double arc[3][8] = 
00065 {
00066 {0.25,-0.25,-0.3,-0.3,-0.35,-0.35,-0.25,-0.30,-0.25},
00067 {0.5,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25},
00068 {0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.300,-0.350,-0.350},
00069 {0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.350,-0.350},
00070 {0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.250,-0.250},
00071 {0.3,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20},
00072 {0.3,-0.25,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20,-0.20},
00073 {-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.25},
00074 {0.60,-0.270,-0.270,-0.270,-0.250,-0.250,-0.250,-0.250,-0.25},
00075 {0.60,-0.30,-0.30,-0.30,-0.250,-0.250,-0.250,-0.250,-0.25},
00076 
00077 {0.25,-0.50,-0.25,-0.25,-0.25,-0.45,-0.30,-0.30,-0.25},
00078 {0.5,-0.25,-0.25,-0.25,-0.35,-0.35,-0.35,-0.25,-0.15},
00079 {0.60,-0.450,-0.250,-0.250,-0.250,-0.250,-0.350,-0.350,-0.350},
00080 {0.60,-0.250,-0.250,-0.350,-0.250,-0.250,-0.350,-0.350,-0.350},
00081 {0.60,-0.250,-0.250,-0.250,-0.250,-0.250,-0.350,-0.250,-0.250},
00082 {0.3,-0.30,-0.30,-0.20,-0.20,-0.50,-0.30,-0.20,-0.20},
00083 {0.40,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25,-0.25},
00084 {-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.250,-0.25},
00085 {0.60,-0.270,-0.270,-0.270,-0.250,-0.250,-0.250,-0.250,-0.25},
00086 {0.60,-0.30,-0.30,-0.30,-0.250,-0.250,-0.250,-0.250,-0.25}
00087 
00088 };
00089 #else
00090 
00091 extern double a[20][9];
00092 extern double arc[20][9];
00093 #endif
00094 #endif
00095
/home/laradmin/lar/planning/trajectory_planner/src/define_trajectories.h
