[89] | 1 | #ifndef STRUCTURE_IGN_H
|
---|
| 2 | #define STRUCTURE_IGN_H
|
---|
| 3 |
|
---|
| 4 | #include "kernel/cstdint.h"
|
---|
| 5 | #include "kernel/road_time.h"
|
---|
| 6 |
|
---|
| 7 | #pragma pack(push,4)
|
---|
| 8 |
|
---|
| 9 | /// Applanix IGN data format
|
---|
| 10 | struct ApplanixPoint
|
---|
| 11 | {
|
---|
| 12 | /// Scanner type id. Alasca has type 2
|
---|
| 13 | uint8_t scannertype;
|
---|
| 14 | uint8_t _padding[3];
|
---|
| 15 |
|
---|
| 16 | /// DBT timestamp
|
---|
| 17 | road_time_t time;
|
---|
| 18 |
|
---|
| 19 | /// DBT timerange
|
---|
| 20 | road_timerange_t timerange;
|
---|
| 21 |
|
---|
| 22 | /// GPS timestamp
|
---|
| 23 | double timeGPS;
|
---|
| 24 |
|
---|
| 25 | /// distance done up to the moment
|
---|
| 26 | /// \french
|
---|
| 27 | /// distance parcourue
|
---|
| 28 | double distance;
|
---|
| 29 |
|
---|
| 30 | /// latitude
|
---|
| 31 | double lat;
|
---|
| 32 |
|
---|
| 33 | /// longitude
|
---|
| 34 | double lon;
|
---|
| 35 |
|
---|
| 36 | /// ellipsoidal height
|
---|
| 37 | /// \french
|
---|
| 38 | /// hauteur d'ellipsoid
|
---|
| 39 | double hElipsoid;
|
---|
| 40 |
|
---|
| 41 | /// roll angle
|
---|
| 42 | /// \french
|
---|
| 43 | /// rouli
|
---|
| 44 | double rouli;
|
---|
| 45 |
|
---|
| 46 | /// pitch angle
|
---|
| 47 | /// \french
|
---|
| 48 | /// tangage
|
---|
| 49 | double tangage;
|
---|
| 50 |
|
---|
| 51 | /// yaw (heading) angle
|
---|
| 52 | /// \french
|
---|
| 53 | /// cap
|
---|
| 54 | double cap;
|
---|
| 55 |
|
---|
| 56 | /// speed in X-axis in ENU coordinates
|
---|
| 57 | /// \french
|
---|
| 58 | /// vitesse suivant x en repère ENU
|
---|
| 59 | double vitesseXENU;
|
---|
| 60 |
|
---|
| 61 | /// speed in Y-axis in ENU coordinates
|
---|
| 62 | /// \french
|
---|
| 63 | /// vitesse suivant y en repère ENU
|
---|
| 64 | double vitesseYENU;
|
---|
| 65 |
|
---|
| 66 | /// speed in Z-axis in ENU coordinates
|
---|
| 67 | /// \french
|
---|
| 68 | /// vitesse suivant z en repère ENU
|
---|
| 69 | double vitesseZENU;
|
---|
| 70 |
|
---|
| 71 | /// standard deviation of speed in X-axis in ENU coordinates
|
---|
| 72 | /// \french
|
---|
| 73 | /// ecart-type de la vitesse suivant x en repère ENU
|
---|
| 74 | double SDVitesseXENU;
|
---|
| 75 |
|
---|
| 76 | /// standard deviation of speed in Y-axis in ENU coordinates
|
---|
| 77 | /// \french
|
---|
| 78 | /// ecart-type de la vitesse suivant y en repère ENU
|
---|
| 79 | double SDVitesseYENU;
|
---|
| 80 |
|
---|
| 81 | /// standard deviation of speed in Z-axis in ENU coordinates
|
---|
| 82 | /// \french
|
---|
| 83 | /// ecart-type de la vitesse suivant z en repère ENU
|
---|
| 84 | double SDVitesseZENU;
|
---|
| 85 |
|
---|
| 86 | /// standard deviation of roll angle
|
---|
| 87 | /// \french
|
---|
| 88 | /// ecart-type du rouli
|
---|
| 89 | double SDrouli;
|
---|
| 90 |
|
---|
| 91 | /// standard deviation of pitch angle
|
---|
| 92 | /// \french
|
---|
| 93 | /// ecart-type du tangage
|
---|
| 94 | double SDtangage;
|
---|
| 95 |
|
---|
| 96 | /// standard deviation of yaw (heading) angle
|
---|
| 97 | /// \french
|
---|
| 98 | /// ecart-type du cap
|
---|
| 99 | double SDcap;
|
---|
| 100 | };
|
---|
| 101 |
|
---|
| 102 | #pragma pack(pop)
|
---|
| 103 |
|
---|
| 104 | /// 2-dimensional pose (position and heading) in geographical coordinates (latitude longitude)
|
---|
| 105 | struct Pose2Dlatlong
|
---|
| 106 | {
|
---|
| 107 | /// DBT timestamp
|
---|
| 108 | road_time_t time;
|
---|
| 109 |
|
---|
| 110 | /// latitude
|
---|
| 111 | double lat;
|
---|
| 112 |
|
---|
| 113 | /// longitude
|
---|
| 114 | double lon;
|
---|
| 115 |
|
---|
| 116 | /// yaw (heading) angle
|
---|
| 117 | /// \french
|
---|
| 118 | /// cap
|
---|
| 119 | double cap;
|
---|
| 120 |
|
---|
| 121 | /// standard deviation of yaw (heading) angle
|
---|
| 122 | /// \french
|
---|
| 123 | /// ecart-type du cap
|
---|
| 124 | double SDcap;
|
---|
| 125 | };
|
---|
| 126 |
|
---|
| 127 | /// 2-dimensional pose (position and heading) in ENU coordinates (East North Up)
|
---|
| 128 | struct Pose2Denu
|
---|
| 129 | {
|
---|
| 130 | /// DBT timestamp
|
---|
| 131 | road_time_t time;
|
---|
| 132 |
|
---|
| 133 | /// latitude
|
---|
| 134 | double x;
|
---|
| 135 |
|
---|
| 136 | /// longitude
|
---|
| 137 | double y;
|
---|
| 138 |
|
---|
| 139 | /// yaw (heading) angle
|
---|
| 140 | /// \french
|
---|
| 141 | /// cap
|
---|
| 142 | double cap;
|
---|
| 143 |
|
---|
| 144 | /// standard deviation of yaw (heading) angle
|
---|
| 145 | /// \french
|
---|
| 146 | /// ecart-type du cap
|
---|
| 147 | double SDcap;
|
---|
| 148 | };
|
---|
| 149 |
|
---|
| 150 | #endif // STRUCTURE_IGN_H
|
---|