feat: 初始化 Go2 导航代码与配置

Livox_automatic_calibration-master/include/geometry_utils/Vector2.h

@@ -0,0 +1,48 @@
+#ifndef GEOMETRY_UTILS_VECTOR2_H
+#define GEOMETRY_UTILS_VECTOR2_H
+
+#include "VectorNBase.h"
+
+namespace geometry_utils {
+
+template <typename T>
+struct Vector2Base : VectorNBase<T, 2> {
+  Vector2Base() : VectorNBase<T, 2>() {}
+  Vector2Base(T val) : VectorNBase<T, 2>(val) {}
+  Vector2Base(const Vector2Base& in) : VectorNBase<T, 2>(in.data) {}
+  Vector2Base(const boost::array<T, 2>& in) : VectorNBase<T, 2>(in) {}
+  Vector2Base(T (&in)[2]) : VectorNBase<T, 2>(in) {}
+  Vector2Base(const Eigen::Matrix<T, 2, 1>& in) : VectorNBase<T, 2>(in) {}
+  Vector2Base(const VectorNBase<T, 2>& in) : VectorNBase<T, 2>(in) {}
+
+  Vector2Base(T v1, T v2) {
+    this->data[0] = v1;
+    this->data[1] = v2;
+  }
+
+  T X() const { return this->data[0]; }
+  T Y() const { return this->data[1]; }
+};
+
+inline Vector2Base<float> operator*(const float& lhs,
+                                    const Vector2Base<float>& rhs) {
+  return Vector2Base<float>(rhs * lhs);
+}
+
+inline Vector2Base<double> operator*(const double& lhs,
+                                     const Vector2Base<double>& rhs) {
+  return Vector2Base<double>(rhs * lhs);
+}
+
+typedef Vector2Base<float> Vector2f;
+typedef Vector2Base<float> Vec2f;
+
+typedef Vector2Base<double> Vector2d;
+typedef Vector2Base<double> Vec2d;
+
+typedef Vector2Base<double> Vector2;
+typedef Vector2Base<double> Vec2;
+
+}
+
+#endif