Geometry.hpp

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#pragma once
 
// Plain geometry primitives shared by libstp::map. Keep these as PODs:
// they're hot-path types (particle filter projects sensor positions
// per-tick) and we want them trivially copyable into vectors.
 
namespace libstp::map
{
    struct Point2D
    {
        float xCm{0.0f};
        float yCm{0.0f};
    };

    struct SensorOffset
    {
        float forwardCm{0.0f};
        float strafeCm{0.0f};
    };

    struct WheelOffset
    {
        float forwardCm{0.0f};
        float strafeCm{0.0f};
    };
}