feat: 初始化 Go2 导航代码与配置

Livox_automatic_calibration-master/include/geometry_utils/YAMLLoader.h

@@ -0,0 +1,98 @@
+/*
+geometry_utils: Utility library to provide common geometry types and transformations
+Copyright (C) 2013  Nathan Michael
+              2016  Erik Nelson
+
+This program is free software; you can redistribute it and/or
+modify it under the terms of the GNU General Public License
+as published by the Free Software Foundation; either version 2
+of the License, or (at your option) any later version.
+
+This program is distributed in the hope that it will be useful,
+but WITHOUT ANY WARRANTY; without even the implied warranty of
+MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+GNU General Public License for more details.
+
+You should have received a copy of the GNU General Public License
+along with this program; if not, write to the Free Software
+Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA  02110-1301, USA.
+*/
+
+#ifndef GEOMETRY_UTILS_YAML_LOADER_H
+#define GEOMETRY_UTILS_YAML_LOADER_H
+
+#ifdef __YAML_UTILS_H__
+#error "YAMLUtils must be included last"
+#endif
+
+#include <yaml-cpp/yaml.h>
+#include <geometry_utils/GeometryUtils.h>
+
+namespace YAML {
+
+template <>
+struct convert<geometry_utils::Vector2> {
+  static Node Encode(const geometry_utils::Vector2& rhs) {
+    Node node;
+    node.push_back(rhs[0]);
+    node.push_back(rhs[1]);
+    return node;
+  }
+
+  static bool Decode(const Node& node, geometry_utils::Vector2& rhs) {
+    if (!node.IsSequence() || node.size() != 2)
+      return false;
+
+    rhs[0] = node[0].as<double>();
+    rhs[1] = node[1].as<double>();
+    return true;
+  }
+};
+
+template <>
+struct convert<geometry_utils::Vector3> {
+  static Node Encode(const geometry_utils::Vector3& rhs) {
+    Node node;
+    node.push_back(rhs[0]);
+    node.push_back(rhs[1]);
+    node.push_back(rhs[2]);
+    return node;
+  }
+
+  static bool Decode(const Node& node, geometry_utils::Vector3& rhs) {
+    if (!node.IsSequence() || node.size() != 3)
+      return false;
+
+    rhs[0] = node[0].as<double>();
+    rhs[1] = node[1].as<double>();
+    rhs[2] = node[2].as<double>();
+    return true;
+  }
+};
+
+template <>
+struct convert<geometry_utils::Vector4> {
+  static Node Encode(const geometry_utils::Vector4& rhs) {
+    Node node;
+    node.push_back(rhs[0]);
+    node.push_back(rhs[1]);
+    node.push_back(rhs[2]);
+    node.push_back(rhs[3]);
+    return node;
+  }
+
+  static bool Decode(const Node& node, geometry_utils::Vector4& rhs) {
+    if (!node.IsSequence() || node.size() != 4)
+      return false;
+
+    rhs[0] = node[0].as<double>();
+    rhs[1] = node[1].as<double>();
+    rhs[2] = node[2].as<double>();
+    rhs[3] = node[3].as<double>();
+    return true;
+  }
+};
+
+}
+
+#endif