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#pragma once
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#include <optional>
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#include <eigen3/Eigen/Dense>
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#include <QMapboxGL>
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#include <QGeoCoordinate>
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#include "common/transformations/coordinates.hpp"
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#include "common/transformations/orientation.hpp"
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#include "cereal/messaging/messaging.h"
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const float METER_2_MILE = 0.000621371;
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const float METER_2_FOOT = 3.28084;
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#define RAD2DEG(x) ((x) * 180.0 / M_PI)
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QGeoCoordinate to_QGeoCoordinate(const QMapbox::Coordinate &in);
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QMapbox::CoordinatesCollections model_to_collection(
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const cereal::LiveLocationKalman::Measurement::Reader &calibratedOrientationECEF,
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const cereal::LiveLocationKalman::Measurement::Reader &positionECEF,
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const cereal::ModelDataV2::XYZTData::Reader &line);
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QMapbox::CoordinatesCollections coordinate_to_collection(QMapbox::Coordinate c);
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QMapbox::CoordinatesCollections coordinate_list_to_collection(QList<QGeoCoordinate> coordinate_list);
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float minimum_distance(QGeoCoordinate a, QGeoCoordinate b, QGeoCoordinate p);
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std::optional<QMapbox::Coordinate> coordinate_from_param(std::string param);
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float distance_along_geometry(QList<QGeoCoordinate> geometry, QGeoCoordinate pos);
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