class CVector2 {
   
   friend class CRotationMatrix2;
   friend class CTransformationMatrix2;

   public:

      /** The <em>x</em> axis */
      static const CVector2 X;

      /** The <em>y</em> axis */
      static const CVector2 Y;

      /**
       * Class constructor.
       * It initializes the vector to (0,0).
       * @see ZERO
       */
      CVector2() :
         m_fX(0.0),
         m_fY(0.0) {
      }

      /**
       * Class constructor.
       * It initializes the vector from Cartesian coordinates.
       * @param f_x The <em>x</em> coordinate.
       * @param f_y The <em>y</em> coordinate.
       * @see Set()
       */
      CVector2(Real f_x,
               Real f_y) :
         m_fX(f_x),
         m_fY(f_y) {
      }
     /**
       * Sums the passed vector to this vector.
       * @param c_vector2 The other vector.
       * @returns A reference to this vector.
       */
      inline CVector2& operator+=(const CVector2& c_vector2) {
         m_fX += c_vector2.m_fX;
         m_fY += c_vector2.m_fY;
         return *this;
      }

......

};

 1  struct SReading {
 2          CRadians Angle;
 3          Real Distance; // in cm from the center of the robot (about 10cm from the border)
 4 
 5          SReading() :
 6             Angle(0.0f),
 7             Distance(0.0f) {}
 8 
 9          SReading(const CRadians& c_angle,
10                   Real f_distance) :
11             Angle(c_angle),
12             Distance(f_distance) {
13          }
14       };
15   typedef std::vector<SReading> TReadings;