.. _program_listing_file_include_pointdata.hpp:

Program Listing for File pointdata.hpp
======================================

|exhale_lsh| :ref:`Return to documentation for file <file_include_pointdata.hpp>` (``include/pointdata.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   // Copyright 2021 ROBOTIS CO., LTD.
   //
   // Licensed under the Apache License, Version 2.0 (the "License");
   // you may not use this file except in compliance with the License.
   // You may obtain a copy of the License at
   //
   //     http://www.apache.org/licenses/LICENSE-2.0
   //
   // Unless required by applicable law or agreed to in writing, software
   // distributed under the License is distributed on an "AS IS" BASIS,
   // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
   // See the License for the specific language governing permissions and
   // limitations under the License.
   //
   // Author: LD Robot, Will Son
   
   #ifndef POINTDATA_HPP_
   #define POINTDATA_HPP_
   
   #include <stdint.h>
   #include <vector>
   #include <iostream>
   
   struct PointData
   {
     // Polar coordinate representation
     float angle;
     uint16_t distance;
     uint8_t confidence;
   
     // Rectangular coordinate representation
     double x;
     double y;
   
     PointData(float angle, uint16_t distance, uint8_t confidence, double x = 0, double y = 0)
     {
       this->angle = angle;
       this->distance = distance;
       this->confidence = confidence;
       this->x = x;
       this->y = y;
     }
   
     PointData()
     {
     }
   
     friend std::ostream & operator<<(std::ostream & os, const PointData & data)
     {
       os << data.angle << " " \
          << data.distance << " " \
          << static_cast<int>(data.confidence) << " " \
          << data.x << " " \
          << data.y;
       return os;
     }
   };
   
   
   typedef std::vector<PointData> Points2D;
   
   #endif  // POINTDATA_HPP_