Add a collision avoidance library which uses range data

msg/CMakeLists.txt

@@ -42,6 +42,7 @@ set(msg_files
 	camera_capture.msg
 	camera_trigger.msg
 	collision_report.msg
+	collision_constraints.msg
 	commander_state.msg
 	cpuload.msg
 	debug_array.msg

msg/collision_constraints.msg

@@ -0,0 +1,12 @@
+# Local setpoint constraints in NED frame
+# setting something to NaN means that no limit is provided
+
+uint64 timestamp	# time since system start (microseconds)
+
+#value of 0 means no constraint along this axis, value of 1 means no movements alowed, value bigger than 1 forces negative movement.
+float32[2] constraints_normalized_x   # constraints determined by range sensor measurements [x negative, x positive]
+float32[2] constraints_normalized_y   # constraintss determined by range sensor measurements [y negative, y positive]
+
+float32[2] original_setpoint   # velocities demanded
+float32[2] adapted_setpoint    # velocities allowed
+