struct InternalPoint{
    InternalPoint( double ix, double iy, int ipos = -1 ) : x(ix), y(iy), pos(ipos) {}
    double x;
    double y;
    int pos = -1;
};

struct InternalPose{
    InternalPose( double ix, double iy, double iyaw ): x(ix), y(iy), yaw(iyaw){}
    double x;
    double y;
    double yaw;
};

struct InternalPath{
    std::vector<InternalPoint> path;
};

struct PointPath{
    std::string id;
    std::vector<InternalPoint> path;
};

struct PosePath{
    std::string id;
    std::vector<InternalPose> path;
};