source: pacpusframework/branches/2.0-beta1/include/Pacpus/structure/structure_IGN.h@ 89

Last change on this file since 89 was 89, checked in by morasjul, 11 years ago

PACPUS 2.0 Beta deployed in new branch

Major changes:
-Add communication interface between components
-Add examples for communications interface (TestComponents)
-Move to Qt5 support

  • Property svn:executable set to *
File size: 2.9 KB
Line 
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
10struct 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)
105struct 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)
128struct 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
Note: See TracBrowser for help on using the repository browser.