add slam_gmapping

slam_gmapping/openslam_gmapping/utils/orientedboundingbox.h

@@ -0,0 +1,31 @@
+#ifndef  ORIENTENDBOUNDINGBOX_H
+#define  ORIENTENDBOUNDINGBOX_H
+
+
+#include <stdio.h>
+#include <math.h>
+
+#include <utils/point.h>
+
+namespace GMapping{
+
+template<class NUMERIC>
+class OrientedBoundingBox {
+
+ public:
+  OrientedBoundingBox(std::vector< point<NUMERIC> > p);  
+  double area();
+
+ protected:
+  Point ul;
+  Point ur;
+  Point ll;
+  Point lr;  
+};
+
+#include "orientedboundingbox.hxx"
+
+};// end namespace
+
+#endif
+