text: #ifndef _GLOBAL_VAR_H_
  #define _GLOBAL_VAR_H_
  
  #include "libs.h"
  #include "sg_pi_app.h"
  
  extern ScanDataFrame* g_data_frame;
  extern ScanDataPack* g_data_pack;
  extern float g_velocity;
  extern float g_initial_velocity_setpoint;
  extern float g_velocity_setpoint;
  extern YawPitchRoll g_rotation_angle;
  extern char* g_output_filename;
  
  #endif // _GLOBAL_VAR_H_
  