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