avoiding dependencies on pathplan

diff --git a/lib/pathplan/pathgeom.h b/lib/pathplan/pathgeom.h
index 07c2893127cbfe69a79ede823b5e2c52590d1a55..512b49900c8736d07efc54d597b8452377cce8f6 100644 (file)
--- a/lib/pathplan/pathgeom.h
+++ b/lib/pathplan/pathgeom.h
@@ -22,12 +22,17 @@
 extern "C" {
 #endif
 
+#ifdef HAVE_POINTF_S
+    typedef struct pointf_s Ppoint_t;
+    typedef struct pointf_s Pvector_t;
+#else
     typedef struct Pxy_t {
        double x, y;
     } Pxy_t;
 
     typedef struct Pxy_t Ppoint_t;
     typedef struct Pxy_t Pvector_t;
+#endif
 
     typedef struct Ppoly_t {
        Ppoint_t *ps;