#include <vector>
#include <msp/geometry/affinetransformation.h>
#include <msp/geometry/angle.h>
+#include <msp/geometry/ray.h>
+#include <msp/geometry/shape.h>
#include <msp/linal/vector.h>
namespace R2C2 {
inline Vector vector_at_angle(const Angle &a)
{ return rotated_vector(Vector(1, 0, 0), a); }
-struct TrackPoint
-{
- Vector pos;
- Angle dir;
- float grade;
+typedef Msp::Geometry::Shape<float, 3> Shape;
+typedef Msp::Geometry::Ray<float, 3> Ray;
+typedef Msp::Geometry::BoundingBox<float, 3> BoundingBox;
- TrackPoint(): grade(0) { }
+struct OrientedPoint
+{
+ Vector position;
+ Angle rotation;
+ Angle tilt;
};
} // namespace R2C2