#ifndef RADARMERGE_H
#define RADARMERGE_H

//#include <pcl/io/io.h>
//#include <pcl/io/pcd_io.h>

#include <QUdpSocket>
#include <QNetworkDatagram>

#include "radarobjectarray.pb.h"

namespace iv {
    const int grx = 200, gry = 550, centerx = 100, centery = 50;
    const double gridwide = 0.2;
    struct ObstacleBasic
    {
        bool valid;
        float nomal_x;
        float nomal_y;
        float nomal_z;

        float speed_relative;
        float speed_x;
        float speed_y;
        float speed_z;

        float high;
        float low;

        int esr_ID;
    };

//    typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsLiDAR;
//    typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsRadar;
//    typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>> ObsCamera;
//    typedef boost::shared_ptr<std::vector<iv::ObstacleBasic>>ObsRadarPointer;
    struct Obs_grid
    {
        double high;
        double low;
        double obshight;
        double groundheight;
        int pointcount;
        int ob;//??????0?? ?1???2???
    };
    typedef Obs_grid RadarGrid;
    typedef Obs_grid* RadarGridPtr;
//    int xxxx;

}

namespace  iv {
struct radar_data
{
    char strmemname[256];
    double foff_x = 0.0;
    double foff_y = 0.0;
    double frotation = 0.0;
    bool bUpdate = false;
    iv::radar::radarobjectarray xradararray;
};

}

iv::radar::radarobjectarray mergefunc(std::vector<iv::radar_data> xvectorradar);
#endif // RADARMERGE_H