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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="preprocessor">#ifndef __BASIC_TYPE__</span></div><div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="preprocessor">#define __BASIC_TYPE__</span></div><div class="line"><a name="l00003"></a><span class="lineno"> 3</span> </div><div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="preprocessor">#include "opencv2/opencv.hpp"</span></div><div class="line"><a name="l00005"></a><span class="lineno"> 5</span> </div><div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="keyword">namespace </span><a class="code" href="namespacedg.html">dg</a></div><div class="line"><a name="l00007"></a><span class="lineno"> 7</span> {</div><div class="line"><a name="l00008"></a><span class="lineno"> 8</span> </div><div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="keyword">typedef</span> <span class="keywordtype">double</span> Timestamp;</div><div class="line"><a name="l00011"></a><span class="lineno"> 11</span> </div><div class="line"><a name="l00016"></a><span class="lineno"> 16</span> <span class="keyword">typedef</span> uint64_t ID;</div><div class="line"><a name="l00017"></a><span class="lineno"> 17</span> </div><div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="keyword">typedef</span> cv::Point2d Point2;</div><div class="line"><a name="l00027"></a><span class="lineno"> 27</span> </div><div class="line"><a name="l00036"></a><span class="lineno"><a class="line" href="classdg_1_1_polar2.html"> 36</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_polar2.html">Polar2</a></div><div class="line"><a name="l00037"></a><span class="lineno"> 37</span> {</div><div class="line"><a name="l00038"></a><span class="lineno"> 38</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00042"></a><span class="lineno"><a class="line" href="classdg_1_1_polar2.html#a1f1b96018735c67ac84835a736ce33a4"> 42</a></span>  <a class="code" href="classdg_1_1_polar2.html#a1f1b96018735c67ac84835a736ce33a4">Polar2</a>() : <a class="code" href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde">lin</a>(0), <a class="code" href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd">ang</a>(0) { }</div><div class="line"><a name="l00043"></a><span class="lineno"> 43</span> </div><div class="line"><a name="l00049"></a><span class="lineno"><a class="line" href="classdg_1_1_polar2.html#ac90db6214266f902c842bef016ccee12"> 49</a></span>  <a class="code" href="classdg_1_1_polar2.html#ac90db6214266f902c842bef016ccee12">Polar2</a>(<span class="keywordtype">double</span> _lin, <span class="keywordtype">double</span> _ang) : <a class="code" href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde">lin</a>(_lin), <a class="code" href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd">ang</a>(_ang) { }</div><div class="line"><a name="l00050"></a><span class="lineno"> 50</span> </div><div class="line"><a name="l00056"></a><span class="lineno"><a class="line" href="classdg_1_1_polar2.html#a5927a55dd9d4403bcc198c7cbe0c6865"> 56</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classdg_1_1_polar2.html#a5927a55dd9d4403bcc198c7cbe0c6865">operator==</a>(<span class="keyword">const</span> <a class="code" href="classdg_1_1_polar2.html">Polar2</a>& rhs)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde">lin</a> == rhs.<a class="code" href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde">lin</a>) && (<a class="code" href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd">ang</a> == rhs.<a class="code" href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd">ang</a>); }</div><div class="line"><a name="l00057"></a><span class="lineno"> 57</span> </div><div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="classdg_1_1_polar2.html#a69c088d4aef0d7c514c5e1a81e60b81c"> 63</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classdg_1_1_polar2.html#a69c088d4aef0d7c514c5e1a81e60b81c">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classdg_1_1_polar2.html">Polar2</a>& rhs)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<a class="code" href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde">lin</a> != rhs.<a class="code" href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde">lin</a>) || (<a class="code" href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd">ang</a> != rhs.<a class="code" href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd">ang</a>); }</div><div class="line"><a name="l00064"></a><span class="lineno"> 64</span> </div><div class="line"><a name="l00066"></a><span class="lineno"><a class="line" href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde"> 66</a></span>  <span class="keywordtype">double</span> <a class="code" href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde">lin</a>;</div><div class="line"><a name="l00067"></a><span class="lineno"> 67</span> </div><div class="line"><a name="l00069"></a><span class="lineno"><a class="line" href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd"> 69</a></span>  <span class="keywordtype">double</span> <a class="code" href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd">ang</a>;</div><div class="line"><a name="l00070"></a><span class="lineno"> 70</span> };</div><div class="line"><a name="l00071"></a><span class="lineno"> 71</span> </div><div class="line"><a name="l00081"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat.html"> 81</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_lon_lat.html">LonLat</a> : <span class="keyword">public</span> Point2</div><div class="line"><a name="l00082"></a><span class="lineno"> 82</span> {</div><div class="line"><a name="l00083"></a><span class="lineno"> 83</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00087"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat.html#af166450ef80e194c09aac1b839aca3f0"> 87</a></span>  <a class="code" href="classdg_1_1_lon_lat.html#af166450ef80e194c09aac1b839aca3f0">LonLat</a>() : <a class="code" href="classdg_1_1_lon_lat.html#a2a76cdcfaaef48517c25500826bc0a9c">lon</a>(x), <a class="code" href="classdg_1_1_lon_lat.html#a73381812fca885273be53e7e76fd9024">lat</a>(y) { }</div><div class="line"><a name="l00088"></a><span class="lineno"> 88</span> </div><div class="line"><a name="l00094"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat.html#ad94fed514a685f959477b55b369ca380"> 94</a></span>  <a class="code" href="classdg_1_1_lon_lat.html#ad94fed514a685f959477b55b369ca380">LonLat</a>(<span class="keywordtype">double</span> _lon, <span class="keywordtype">double</span> _lat) : Point2(_lon, _lat), <a class="code" href="classdg_1_1_lon_lat.html#a2a76cdcfaaef48517c25500826bc0a9c">lon</a>(x), <a class="code" href="classdg_1_1_lon_lat.html#a73381812fca885273be53e7e76fd9024">lat</a>(y) { }</div><div class="line"><a name="l00095"></a><span class="lineno"> 95</span> </div><div class="line"><a name="l00100"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat.html#a0d4f6667b74f62140aa722ff56a40f6d"> 100</a></span>  <a class="code" href="classdg_1_1_lon_lat.html#a0d4f6667b74f62140aa722ff56a40f6d">LonLat</a>(<span class="keyword">const</span> Point2& p) : Point2(p), <a class="code" href="classdg_1_1_lon_lat.html#a2a76cdcfaaef48517c25500826bc0a9c">lon</a>(x), <a class="code" href="classdg_1_1_lon_lat.html#a73381812fca885273be53e7e76fd9024">lat</a>(y) { }</div><div class="line"><a name="l00101"></a><span class="lineno"> 101</span> </div><div class="line"><a name="l00107"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat.html#af09e3a3b7c20ef241ddd089b21c79fb0"> 107</a></span>  <a class="code" href="classdg_1_1_lon_lat.html">LonLat</a>& <a class="code" href="classdg_1_1_lon_lat.html#af09e3a3b7c20ef241ddd089b21c79fb0">operator=</a>(<span class="keyword">const</span> Point2& rhs)</div><div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  {</div><div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  x = rhs.x;</div><div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  y = rhs.y;</div><div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordflow">return</span> *<span class="keyword">this</span>;</div><div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  }</div><div class="line"><a name="l00113"></a><span class="lineno"> 113</span> </div><div class="line"><a name="l00115"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat.html#a2a76cdcfaaef48517c25500826bc0a9c"> 115</a></span>  <span class="keywordtype">double</span>& <a class="code" href="classdg_1_1_lon_lat.html#a2a76cdcfaaef48517c25500826bc0a9c">lon</a>;</div><div class="line"><a name="l00116"></a><span class="lineno"> 116</span> </div><div class="line"><a name="l00118"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat.html#a73381812fca885273be53e7e76fd9024"> 118</a></span>  <span class="keywordtype">double</span>& <a class="code" href="classdg_1_1_lon_lat.html#a73381812fca885273be53e7e76fd9024">lat</a>;</div><div class="line"><a name="l00119"></a><span class="lineno"> 119</span> };</div><div class="line"><a name="l00120"></a><span class="lineno"> 120</span> </div><div class="line"><a name="l00127"></a><span class="lineno"><a class="line" href="classdg_1_1_pose2.html"> 127</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_pose2.html">Pose2</a> : <span class="keyword">public</span> Point2</div><div class="line"><a name="l00128"></a><span class="lineno"> 128</span> {</div><div class="line"><a name="l00129"></a><span class="lineno"> 129</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00133"></a><span class="lineno"><a class="line" href="classdg_1_1_pose2.html#ad61e568533eac6c1fc820c98a1645f0c"> 133</a></span>  <a class="code" href="classdg_1_1_pose2.html#ad61e568533eac6c1fc820c98a1645f0c">Pose2</a>() : <a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a>(0) { }</div><div class="line"><a name="l00134"></a><span class="lineno"> 134</span> </div><div class="line"><a name="l00141"></a><span class="lineno"><a class="line" href="classdg_1_1_pose2.html#a68ffe566d16cb3ec0a34737ad418276b"> 141</a></span>  <a class="code" href="classdg_1_1_pose2.html#a68ffe566d16cb3ec0a34737ad418276b">Pose2</a>(<span class="keywordtype">double</span> _x, <span class="keywordtype">double</span> _y, <span class="keywordtype">double</span> _t = 0) : Point2(_x, _y), <a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a>(_t) { }</div><div class="line"><a name="l00142"></a><span class="lineno"> 142</span> </div><div class="line"><a name="l00148"></a><span class="lineno"><a class="line" href="classdg_1_1_pose2.html#af5e1f9c75edcb1c43a0520eaebcceb2a"> 148</a></span>  <a class="code" href="classdg_1_1_pose2.html#af5e1f9c75edcb1c43a0520eaebcceb2a">Pose2</a>(<span class="keyword">const</span> Point2& pt, <span class="keywordtype">double</span> _t = 0) : Point2(pt), <a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a>(_t) { }</div><div class="line"><a name="l00149"></a><span class="lineno"> 149</span> </div><div class="line"><a name="l00154"></a><span class="lineno"><a class="line" href="classdg_1_1_pose2.html#a3ae31296c2b80b524595a36149c95b18"> 154</a></span>  <a class="code" href="classdg_1_1_pose2.html#a3ae31296c2b80b524595a36149c95b18">Pose2</a>(<span class="keyword">const</span> <a class="code" href="classdg_1_1_pose2.html">Pose2</a>& pose) : Point2(pose.x, pose.y), <a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a>(pose.<a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a>) { }</div><div class="line"><a name="l00155"></a><span class="lineno"> 155</span> </div><div class="line"><a name="l00161"></a><span class="lineno"><a class="line" href="classdg_1_1_pose2.html#afcb99b6c0448bf6e28709b027170f46e"> 161</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classdg_1_1_pose2.html#afcb99b6c0448bf6e28709b027170f46e">operator==</a>(<span class="keyword">const</span> <a class="code" href="classdg_1_1_pose2.html">Pose2</a>& rhs)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (x == rhs.x) && (y == rhs.y) && (<a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a> == rhs.<a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a>); }</div><div class="line"><a name="l00162"></a><span class="lineno"> 162</span> </div><div class="line"><a name="l00168"></a><span class="lineno"><a class="line" href="classdg_1_1_pose2.html#a8e873af39dd34403d7dd19756bc247af"> 168</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classdg_1_1_pose2.html#a8e873af39dd34403d7dd19756bc247af">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classdg_1_1_pose2.html">Pose2</a>& rhs)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (x != rhs.x) || (y != rhs.y) || (<a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a> != rhs.<a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a>); }</div><div class="line"><a name="l00169"></a><span class="lineno"> 169</span> </div><div class="line"><a name="l00171"></a><span class="lineno"><a class="line" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b"> 171</a></span>  <span class="keywordtype">double</span> <a class="code" href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">theta</a>;</div><div class="line"><a name="l00172"></a><span class="lineno"> 172</span> };</div><div class="line"><a name="l00173"></a><span class="lineno"> 173</span> </div><div class="line"><a name="l00179"></a><span class="lineno"><a class="line" href="classdg_1_1_point2_i_d.html"> 179</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a> : <span class="keyword">public</span> Point2</div><div class="line"><a name="l00180"></a><span class="lineno"> 180</span> {</div><div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="classdg_1_1_point2_i_d.html#a60743d06f54c36edc19a80bd1f746db7"> 186</a></span>  <a class="code" href="classdg_1_1_point2_i_d.html#a60743d06f54c36edc19a80bd1f746db7">Point2ID</a>(ID _id = 0) : <a class="code" href="classdg_1_1_point2_i_d.html#acbaa1e5c74222929e24e1246f409132b">id</a>(_id) { }</div><div class="line"><a name="l00187"></a><span class="lineno"> 187</span> </div><div class="line"><a name="l00194"></a><span class="lineno"><a class="line" href="classdg_1_1_point2_i_d.html#aba6230eeec5fd7bfdbdb197909b911fd"> 194</a></span>  <a class="code" href="classdg_1_1_point2_i_d.html#aba6230eeec5fd7bfdbdb197909b911fd">Point2ID</a>(ID _id, <span class="keywordtype">double</span> _x, <span class="keywordtype">double</span> _y) : <a class="code" href="classdg_1_1_point2_i_d.html#acbaa1e5c74222929e24e1246f409132b">id</a>(_id), Point2(_x, _y) { }</div><div class="line"><a name="l00195"></a><span class="lineno"> 195</span> </div><div class="line"><a name="l00201"></a><span class="lineno"><a class="line" href="classdg_1_1_point2_i_d.html#a5a0fb0013c71d74f56b87736dd78e959"> 201</a></span>  <a class="code" href="classdg_1_1_point2_i_d.html#a5a0fb0013c71d74f56b87736dd78e959">Point2ID</a>(ID _id, <span class="keyword">const</span> Point2& p) : <a class="code" href="classdg_1_1_point2_i_d.html#acbaa1e5c74222929e24e1246f409132b">id</a>(_id), Point2(p) { }</div><div class="line"><a name="l00202"></a><span class="lineno"> 202</span> </div><div class="line"><a name="l00208"></a><span class="lineno"><a class="line" href="classdg_1_1_point2_i_d.html#a018a6e998f800cdccf0585a92fcb4365"> 208</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classdg_1_1_point2_i_d.html#a018a6e998f800cdccf0585a92fcb4365">operator==</a>(<span class="keyword">const</span> <a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a>& rhs)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="keywordtype">id</span> == rhs.<a class="code" href="classdg_1_1_point2_i_d.html#acbaa1e5c74222929e24e1246f409132b">id</a>); }</div><div class="line"><a name="l00209"></a><span class="lineno"> 209</span> </div><div class="line"><a name="l00215"></a><span class="lineno"><a class="line" href="classdg_1_1_point2_i_d.html#a5243e17c0d62913e44013077c96ee354"> 215</a></span>  <span class="keywordtype">bool</span> <a class="code" href="classdg_1_1_point2_i_d.html#a5243e17c0d62913e44013077c96ee354">operator!=</a>(<span class="keyword">const</span> <a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a>& rhs)<span class="keyword"> const </span>{ <span class="keywordflow">return</span> (<span class="keywordtype">id</span> != rhs.<a class="code" href="classdg_1_1_point2_i_d.html#acbaa1e5c74222929e24e1246f409132b">id</a>); }</div><div class="line"><a name="l00216"></a><span class="lineno"> 216</span> </div><div class="line"><a name="l00218"></a><span class="lineno"><a class="line" href="classdg_1_1_point2_i_d.html#acbaa1e5c74222929e24e1246f409132b"> 218</a></span>  ID <a class="code" href="classdg_1_1_point2_i_d.html#acbaa1e5c74222929e24e1246f409132b">id</a>;</div><div class="line"><a name="l00219"></a><span class="lineno"> 219</span> };</div><div class="line"><a name="l00220"></a><span class="lineno"> 220</span> </div><div class="line"><a name="l00227"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat_i_d.html"> 227</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_lon_lat_i_d.html">LonLatID</a> : <span class="keyword">public</span> <a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a></div><div class="line"><a name="l00228"></a><span class="lineno"> 228</span> {</div><div class="line"><a name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00234"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat_i_d.html#a08bd7a9c2bfedb93f11a75931ea717df"> 234</a></span>  <a class="code" href="classdg_1_1_lon_lat_i_d.html#a08bd7a9c2bfedb93f11a75931ea717df">LonLatID</a>(ID _id = 0) : <a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a>(_id), <a class="code" href="classdg_1_1_lon_lat_i_d.html#aaa8fe875ea46042d1603d70cd07a5189">lon</a>(x), <a class="code" href="classdg_1_1_lon_lat_i_d.html#a0c4ff780be6935720f1395f173acc489">lat</a>(y) { }</div><div class="line"><a name="l00235"></a><span class="lineno"> 235</span> </div><div class="line"><a name="l00242"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat_i_d.html#a26e553f013f84e6045b773215e4802de"> 242</a></span>  <a class="code" href="classdg_1_1_lon_lat_i_d.html#a26e553f013f84e6045b773215e4802de">LonLatID</a>(ID _id, <span class="keywordtype">double</span> _lon, <span class="keywordtype">double</span> _lat) : <a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a>(_id, _lon, _lat), <a class="code" href="classdg_1_1_lon_lat_i_d.html#aaa8fe875ea46042d1603d70cd07a5189">lon</a>(x), <a class="code" href="classdg_1_1_lon_lat_i_d.html#a0c4ff780be6935720f1395f173acc489">lat</a>(y) { }</div><div class="line"><a name="l00243"></a><span class="lineno"> 243</span> </div><div class="line"><a name="l00249"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat_i_d.html#a084995de90e7825ef8f670fe1dfe1ae0"> 249</a></span>  <a class="code" href="classdg_1_1_lon_lat_i_d.html#a084995de90e7825ef8f670fe1dfe1ae0">LonLatID</a>(ID _id, <span class="keyword">const</span> Point2& p) : <a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a>(_id, p), <a class="code" href="classdg_1_1_lon_lat_i_d.html#aaa8fe875ea46042d1603d70cd07a5189">lon</a>(x), <a class="code" href="classdg_1_1_lon_lat_i_d.html#a0c4ff780be6935720f1395f173acc489">lat</a>(y) { }</div><div class="line"><a name="l00250"></a><span class="lineno"> 250</span> </div><div class="line"><a name="l00255"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat_i_d.html#a42fe449b0b50019e124d6ae8a3a2ec5e"> 255</a></span>  <a class="code" href="classdg_1_1_lon_lat_i_d.html#a42fe449b0b50019e124d6ae8a3a2ec5e">LonLatID</a>(<span class="keyword">const</span> <a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a>& pid) : <a class="code" href="classdg_1_1_point2_i_d.html">Point2ID</a>(pid), <a class="code" href="classdg_1_1_lon_lat_i_d.html#aaa8fe875ea46042d1603d70cd07a5189">lon</a>(x), <a class="code" href="classdg_1_1_lon_lat_i_d.html#a0c4ff780be6935720f1395f173acc489">lat</a>(y) { }</div><div class="line"><a name="l00256"></a><span class="lineno"> 256</span> </div><div class="line"><a name="l00258"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat_i_d.html#aaa8fe875ea46042d1603d70cd07a5189"> 258</a></span>  <span class="keywordtype">double</span>& <a class="code" href="classdg_1_1_lon_lat_i_d.html#aaa8fe875ea46042d1603d70cd07a5189">lon</a>;</div><div class="line"><a name="l00259"></a><span class="lineno"> 259</span> </div><div class="line"><a name="l00261"></a><span class="lineno"><a class="line" href="classdg_1_1_lon_lat_i_d.html#a0c4ff780be6935720f1395f173acc489"> 261</a></span>  <span class="keywordtype">double</span>& <a class="code" href="classdg_1_1_lon_lat_i_d.html#a0c4ff780be6935720f1395f173acc489">lat</a>;</div><div class="line"><a name="l00262"></a><span class="lineno"> 262</span> };</div><div class="line"><a name="l00263"></a><span class="lineno"> 263</span> </div><div class="line"><a name="l00269"></a><span class="lineno"><a class="line" href="classdg_1_1_topometric_pose.html"> 269</a></span> <span class="keyword">class </span><a class="code" href="classdg_1_1_topometric_pose.html">TopometricPose</a></div><div class="line"><a name="l00270"></a><span class="lineno"> 270</span> {</div><div class="line"><a name="l00271"></a><span class="lineno"> 271</span> <span class="keyword">public</span>:</div><div class="line"><a name="l00278"></a><span class="lineno"><a class="line" href="classdg_1_1_topometric_pose.html#a0241b79f53c9fbc1a455561a8b10ea8f"> 278</a></span>  <a class="code" href="classdg_1_1_topometric_pose.html#a0241b79f53c9fbc1a455561a8b10ea8f">TopometricPose</a>(<span class="keywordtype">int</span> _node_id = -1, <span class="keywordtype">int</span> _edge_idx = -1, <span class="keywordtype">double</span> _dist = 0) : <a class="code" href="classdg_1_1_topometric_pose.html#ae1c2a6aac255e9ebc2dcc6bc474701d7">node_id</a>(_node_id), <a class="code" href="classdg_1_1_topometric_pose.html#ab1792fe160a193d88a0e83a25e08147c">edge_idx</a>(_edge_idx), <a class="code" href="classdg_1_1_topometric_pose.html#ab9db7ce57d3b2c08398676472ec4ca3e">dist</a>(_dist) { }</div><div class="line"><a name="l00279"></a><span class="lineno"> 279</span> </div><div class="line"><a name="l00281"></a><span class="lineno"><a class="line" href="classdg_1_1_topometric_pose.html#ae1c2a6aac255e9ebc2dcc6bc474701d7"> 281</a></span>  <span class="keywordtype">int</span> <a class="code" href="classdg_1_1_topometric_pose.html#ae1c2a6aac255e9ebc2dcc6bc474701d7">node_id</a>;</div><div class="line"><a name="l00282"></a><span class="lineno"> 282</span> </div><div class="line"><a name="l00284"></a><span class="lineno"><a class="line" href="classdg_1_1_topometric_pose.html#ab1792fe160a193d88a0e83a25e08147c"> 284</a></span>  <span class="keywordtype">int</span> <a class="code" href="classdg_1_1_topometric_pose.html#ab1792fe160a193d88a0e83a25e08147c">edge_idx</a>;</div><div class="line"><a name="l00285"></a><span class="lineno"> 285</span> </div><div class="line"><a name="l00287"></a><span class="lineno"><a class="line" href="classdg_1_1_topometric_pose.html#ab9db7ce57d3b2c08398676472ec4ca3e"> 287</a></span>  <span class="keywordtype">double</span> <a class="code" href="classdg_1_1_topometric_pose.html#ab9db7ce57d3b2c08398676472ec4ca3e">dist</a>;</div><div class="line"><a name="l00288"></a><span class="lineno"> 288</span> };</div><div class="line"><a name="l00289"></a><span class="lineno"> 289</span> </div><div class="line"><a name="l00290"></a><span class="lineno"> 290</span> } <span class="comment">// End of 'dg'</span></div><div class="line"><a name="l00291"></a><span class="lineno"> 291</span> </div><div class="line"><a name="l00292"></a><span class="lineno"> 292</span> <span class="preprocessor">#endif // End of '__BASIC_TYPE__'</span></div><div class="ttc" id="classdg_1_1_polar2_html_ab52bf83160cf96e97d8bb0a669d197cd"><div class="ttname"><a href="classdg_1_1_polar2.html#ab52bf83160cf96e97d8bb0a669d197cd">dg::Polar2::ang</a></div><div class="ttdeci">double ang</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:69</div></div>
<div class="ttc" id="classdg_1_1_topometric_pose_html_ab1792fe160a193d88a0e83a25e08147c"><div class="ttname"><a href="classdg_1_1_topometric_pose.html#ab1792fe160a193d88a0e83a25e08147c">dg::TopometricPose::edge_idx</a></div><div class="ttdeci">int edge_idx</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:284</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_i_d_html_a0c4ff780be6935720f1395f173acc489"><div class="ttname"><a href="classdg_1_1_lon_lat_i_d.html#a0c4ff780be6935720f1395f173acc489">dg::LonLatID::lat</a></div><div class="ttdeci">double & lat</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:261</div></div>
<div class="ttc" id="classdg_1_1_pose2_html_ad61e568533eac6c1fc820c98a1645f0c"><div class="ttname"><a href="classdg_1_1_pose2.html#ad61e568533eac6c1fc820c98a1645f0c">dg::Pose2::Pose2</a></div><div class="ttdeci">Pose2()</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:133</div></div>
<div class="ttc" id="classdg_1_1_polar2_html_a9e2ee9af42af03a9a3fa1bf6fd8f3dde"><div class="ttname"><a href="classdg_1_1_polar2.html#a9e2ee9af42af03a9a3fa1bf6fd8f3dde">dg::Polar2::lin</a></div><div class="ttdeci">double lin</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:66</div></div>
<div class="ttc" id="classdg_1_1_point2_i_d_html_a5243e17c0d62913e44013077c96ee354"><div class="ttname"><a href="classdg_1_1_point2_i_d.html#a5243e17c0d62913e44013077c96ee354">dg::Point2ID::operator!=</a></div><div class="ttdeci">bool operator!=(const Point2ID &rhs) const</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:215</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_html_a2a76cdcfaaef48517c25500826bc0a9c"><div class="ttname"><a href="classdg_1_1_lon_lat.html#a2a76cdcfaaef48517c25500826bc0a9c">dg::LonLat::lon</a></div><div class="ttdeci">double & lon</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:115</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_i_d_html_a084995de90e7825ef8f670fe1dfe1ae0"><div class="ttname"><a href="classdg_1_1_lon_lat_i_d.html#a084995de90e7825ef8f670fe1dfe1ae0">dg::LonLatID::LonLatID</a></div><div class="ttdeci">LonLatID(ID _id, const Point2 &p)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:249</div></div>
<div class="ttc" id="classdg_1_1_polar2_html_a1f1b96018735c67ac84835a736ce33a4"><div class="ttname"><a href="classdg_1_1_polar2.html#a1f1b96018735c67ac84835a736ce33a4">dg::Polar2::Polar2</a></div><div class="ttdeci">Polar2()</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:42</div></div>
<div class="ttc" id="namespacedg_html"><div class="ttname"><a href="namespacedg.html">dg</a></div><div class="ttdef"><b>Definition:</b> basic_type.hpp:6</div></div>
<div class="ttc" id="classdg_1_1_topometric_pose_html_ab9db7ce57d3b2c08398676472ec4ca3e"><div class="ttname"><a href="classdg_1_1_topometric_pose.html#ab9db7ce57d3b2c08398676472ec4ca3e">dg::TopometricPose::dist</a></div><div class="ttdeci">double dist</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:287</div></div>
<div class="ttc" id="classdg_1_1_pose2_html_a356c63b806dc5694f86c2eb29a239d9b"><div class="ttname"><a href="classdg_1_1_pose2.html#a356c63b806dc5694f86c2eb29a239d9b">dg::Pose2::theta</a></div><div class="ttdeci">double theta</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:171</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_i_d_html_aaa8fe875ea46042d1603d70cd07a5189"><div class="ttname"><a href="classdg_1_1_lon_lat_i_d.html#aaa8fe875ea46042d1603d70cd07a5189">dg::LonLatID::lon</a></div><div class="ttdeci">double & lon</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:258</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_html_ad94fed514a685f959477b55b369ca380"><div class="ttname"><a href="classdg_1_1_lon_lat.html#ad94fed514a685f959477b55b369ca380">dg::LonLat::LonLat</a></div><div class="ttdeci">LonLat(double _lon, double _lat)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:94</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_html_a0d4f6667b74f62140aa722ff56a40f6d"><div class="ttname"><a href="classdg_1_1_lon_lat.html#a0d4f6667b74f62140aa722ff56a40f6d">dg::LonLat::LonLat</a></div><div class="ttdeci">LonLat(const Point2 &p)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:100</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_html"><div class="ttname"><a href="classdg_1_1_lon_lat.html">dg::LonLat</a></div><div class="ttdoc">2D point in the geodesic notation </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:81</div></div>
<div class="ttc" id="classdg_1_1_topometric_pose_html_a0241b79f53c9fbc1a455561a8b10ea8f"><div class="ttname"><a href="classdg_1_1_topometric_pose.html#a0241b79f53c9fbc1a455561a8b10ea8f">dg::TopometricPose::TopometricPose</a></div><div class="ttdeci">TopometricPose(int _node_id=-1, int _edge_idx=-1, double _dist=0)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:278</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_html_af166450ef80e194c09aac1b839aca3f0"><div class="ttname"><a href="classdg_1_1_lon_lat.html#af166450ef80e194c09aac1b839aca3f0">dg::LonLat::LonLat</a></div><div class="ttdeci">LonLat()</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:87</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_html_a73381812fca885273be53e7e76fd9024"><div class="ttname"><a href="classdg_1_1_lon_lat.html#a73381812fca885273be53e7e76fd9024">dg::LonLat::lat</a></div><div class="ttdeci">double & lat</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:118</div></div>
<div class="ttc" id="classdg_1_1_pose2_html_a3ae31296c2b80b524595a36149c95b18"><div class="ttname"><a href="classdg_1_1_pose2.html#a3ae31296c2b80b524595a36149c95b18">dg::Pose2::Pose2</a></div><div class="ttdeci">Pose2(const Pose2 &pose)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:154</div></div>
<div class="ttc" id="classdg_1_1_polar2_html_a5927a55dd9d4403bcc198c7cbe0c6865"><div class="ttname"><a href="classdg_1_1_polar2.html#a5927a55dd9d4403bcc198c7cbe0c6865">dg::Polar2::operator==</a></div><div class="ttdeci">bool operator==(const Polar2 &rhs) const</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:56</div></div>
<div class="ttc" id="classdg_1_1_topometric_pose_html"><div class="ttname"><a href="classdg_1_1_topometric_pose.html">dg::TopometricPose</a></div><div class="ttdoc">Robot pose on topological maps. </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:269</div></div>
<div class="ttc" id="classdg_1_1_point2_i_d_html_a018a6e998f800cdccf0585a92fcb4365"><div class="ttname"><a href="classdg_1_1_point2_i_d.html#a018a6e998f800cdccf0585a92fcb4365">dg::Point2ID::operator==</a></div><div class="ttdeci">bool operator==(const Point2ID &rhs) const</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:208</div></div>
<div class="ttc" id="classdg_1_1_polar2_html"><div class="ttname"><a href="classdg_1_1_polar2.html">dg::Polar2</a></div><div class="ttdoc">2D vector in the polar coordinate </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:36</div></div>
<div class="ttc" id="classdg_1_1_topometric_pose_html_ae1c2a6aac255e9ebc2dcc6bc474701d7"><div class="ttname"><a href="classdg_1_1_topometric_pose.html#ae1c2a6aac255e9ebc2dcc6bc474701d7">dg::TopometricPose::node_id</a></div><div class="ttdeci">int node_id</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:281</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_i_d_html"><div class="ttname"><a href="classdg_1_1_lon_lat_i_d.html">dg::LonLatID</a></div><div class="ttdoc">2D point in the geodesic notation with ID </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:227</div></div>
<div class="ttc" id="classdg_1_1_pose2_html_afcb99b6c0448bf6e28709b027170f46e"><div class="ttname"><a href="classdg_1_1_pose2.html#afcb99b6c0448bf6e28709b027170f46e">dg::Pose2::operator==</a></div><div class="ttdeci">bool operator==(const Pose2 &rhs) const</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:161</div></div>
<div class="ttc" id="classdg_1_1_pose2_html_a68ffe566d16cb3ec0a34737ad418276b"><div class="ttname"><a href="classdg_1_1_pose2.html#a68ffe566d16cb3ec0a34737ad418276b">dg::Pose2::Pose2</a></div><div class="ttdeci">Pose2(double _x, double _y, double _t=0)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:141</div></div>
<div class="ttc" id="classdg_1_1_pose2_html_af5e1f9c75edcb1c43a0520eaebcceb2a"><div class="ttname"><a href="classdg_1_1_pose2.html#af5e1f9c75edcb1c43a0520eaebcceb2a">dg::Pose2::Pose2</a></div><div class="ttdeci">Pose2(const Point2 &pt, double _t=0)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:148</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_i_d_html_a08bd7a9c2bfedb93f11a75931ea717df"><div class="ttname"><a href="classdg_1_1_lon_lat_i_d.html#a08bd7a9c2bfedb93f11a75931ea717df">dg::LonLatID::LonLatID</a></div><div class="ttdeci">LonLatID(ID _id=0)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:234</div></div>
<div class="ttc" id="classdg_1_1_pose2_html_a8e873af39dd34403d7dd19756bc247af"><div class="ttname"><a href="classdg_1_1_pose2.html#a8e873af39dd34403d7dd19756bc247af">dg::Pose2::operator!=</a></div><div class="ttdeci">bool operator!=(const Pose2 &rhs) const</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:168</div></div>
<div class="ttc" id="classdg_1_1_polar2_html_a69c088d4aef0d7c514c5e1a81e60b81c"><div class="ttname"><a href="classdg_1_1_polar2.html#a69c088d4aef0d7c514c5e1a81e60b81c">dg::Polar2::operator!=</a></div><div class="ttdeci">bool operator!=(const Polar2 &rhs) const</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:63</div></div>
<div class="ttc" id="classdg_1_1_pose2_html"><div class="ttname"><a href="classdg_1_1_pose2.html">dg::Pose2</a></div><div class="ttdoc">2D pose </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:127</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_i_d_html_a42fe449b0b50019e124d6ae8a3a2ec5e"><div class="ttname"><a href="classdg_1_1_lon_lat_i_d.html#a42fe449b0b50019e124d6ae8a3a2ec5e">dg::LonLatID::LonLatID</a></div><div class="ttdeci">LonLatID(const Point2ID &pid)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:255</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_html_af09e3a3b7c20ef241ddd089b21c79fb0"><div class="ttname"><a href="classdg_1_1_lon_lat.html#af09e3a3b7c20ef241ddd089b21c79fb0">dg::LonLat::operator=</a></div><div class="ttdeci">LonLat & operator=(const Point2 &rhs)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:107</div></div>
<div class="ttc" id="classdg_1_1_polar2_html_ac90db6214266f902c842bef016ccee12"><div class="ttname"><a href="classdg_1_1_polar2.html#ac90db6214266f902c842bef016ccee12">dg::Polar2::Polar2</a></div><div class="ttdeci">Polar2(double _lin, double _ang)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:49</div></div>
<div class="ttc" id="classdg_1_1_point2_i_d_html"><div class="ttname"><a href="classdg_1_1_point2_i_d.html">dg::Point2ID</a></div><div class="ttdoc">2D point with ID </div><div class="ttdef"><b>Definition:</b> basic_type.hpp:179</div></div>
<div class="ttc" id="classdg_1_1_point2_i_d_html_acbaa1e5c74222929e24e1246f409132b"><div class="ttname"><a href="classdg_1_1_point2_i_d.html#acbaa1e5c74222929e24e1246f409132b">dg::Point2ID::id</a></div><div class="ttdeci">ID id</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:218</div></div>
<div class="ttc" id="classdg_1_1_point2_i_d_html_aba6230eeec5fd7bfdbdb197909b911fd"><div class="ttname"><a href="classdg_1_1_point2_i_d.html#aba6230eeec5fd7bfdbdb197909b911fd">dg::Point2ID::Point2ID</a></div><div class="ttdeci">Point2ID(ID _id, double _x, double _y)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:194</div></div>
<div class="ttc" id="classdg_1_1_lon_lat_i_d_html_a26e553f013f84e6045b773215e4802de"><div class="ttname"><a href="classdg_1_1_lon_lat_i_d.html#a26e553f013f84e6045b773215e4802de">dg::LonLatID::LonLatID</a></div><div class="ttdeci">LonLatID(ID _id, double _lon, double _lat)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:242</div></div>
<div class="ttc" id="classdg_1_1_point2_i_d_html_a5a0fb0013c71d74f56b87736dd78e959"><div class="ttname"><a href="classdg_1_1_point2_i_d.html#a5a0fb0013c71d74f56b87736dd78e959">dg::Point2ID::Point2ID</a></div><div class="ttdeci">Point2ID(ID _id, const Point2 &p)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:201</div></div>
<div class="ttc" id="classdg_1_1_point2_i_d_html_a60743d06f54c36edc19a80bd1f746db7"><div class="ttname"><a href="classdg_1_1_point2_i_d.html#a60743d06f54c36edc19a80bd1f746db7">dg::Point2ID::Point2ID</a></div><div class="ttdeci">Point2ID(ID _id=0)</div><div class="ttdef"><b>Definition:</b> basic_type.hpp:186</div></div>
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