[89] | 1 | #ifndef _STRUCTURE_CUBE_H_
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| 2 | #define _STRUCTURE_CUBE_H_
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| 3 |
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| 4 | #include "kernel/road_time.h"
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| 5 |
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| 6 | /*DYNA_ROADYN*/
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| 7 |
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| 8 | struct StructureRoadynamics{
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| 9 | road_time_t time,time_cube; // DBT timestamp
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| 10 | road_timerange_t timerange; // DBT timerange
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| 11 | /////////////////////front left wheel///////////////
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| 12 | double fx_AVG; //longitudinal force of the front left wheel (in mv/N)
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| 13 | double fy_AVG; //vertical force of the front left wheel (in mv/N)
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| 14 | double fz_AVG; //lateral force of the front left wheel (in mv/N)
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| 15 | double mx_AVG; //longitudinal moment of the front left wheel (in mv/N)
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| 16 | double my_AVG; //vertical moment of the front left wheel (in mv/N.m)
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| 17 | double mz_AVG; //lateral moment of the front left wheel (in mv/N.m)
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| 18 | double angle_AVG; //front left wheel angle (v/deg)
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| 19 | double omega_AVG; //angular velociet of the front left wheel (in vs/deg)
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| 20 |
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| 21 | /////////////////////rear left wheel///////////////
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| 22 | double fx_ARG; //longitudinal force of the rear left wheel (in mv/N)
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| 23 | double fy_ARG; //vertical force of the rear left wheel (in mv/N)
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| 24 | double fz_ARG; //lateral force of the rear left wheel (in mv/N)
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| 25 | double mx_ARG; //longitudinal moment of the rear left wheel (in mv/N)
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| 26 | double my_ARG; //vertical moment of the rear left wheel (in mv/N)
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| 27 | double mz_ARG; //lateral moment of the rear left wheel (in mv/N)
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| 28 | double angle_ARG; //rear left wheel angle (v/deg)
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| 29 | double omega_ARG; //angular velociet of the rear left wheel (in vs/deg)
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| 30 |
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| 31 | /////////////////////front right wheel///////////////
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| 32 | double fx_AVD; //longitudinal force of the front right wheel (in mv/N)
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| 33 | double fy_AVD; //vertical force of the front right wheel (in mv/N)
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| 34 | double fz_AVD; //lateral force of the front right wheel (in mv/N)
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| 35 | double mx_AVD; //longitudinal moment of the front right wheel (in mv/N)
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| 36 | double my_AVD; //vertical moment of the front right wheel (in mv/N)
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| 37 | double mz_AVD; //lateral moment of the front right wheel (in mv/N)
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| 38 | double angle_AVD; //front right wheel angle (v/deg)
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| 39 | double omega_AVD; //angular velociet of the front right wheel (in vs/deg)
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| 40 |
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| 41 | /////////////////////rear left wheel///////////////
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| 42 | double fx_ARD; //longitudinal force of the rear right wheel (in mv/N)
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| 43 | double fy_ARD; //vertical force of the rear right wheel (in mv/N)
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| 44 | double fz_ARD; //lateral force of the rear right wheel (in mv/N)
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| 45 | double mx_ARD; //longitudinal moment of the rear right wheel (in mv/N)
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| 46 | double my_ARD; //vertical moment of the rear right wheel (in mv/N)
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| 47 | double mz_ARD; //lateral moment of the rear right wheel (in mv/N)
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| 48 | double angle_ARD; //rear right wheel angle (v/deg)
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| 49 | double omega_ARD; //angular velociet of the rear right wheel (in vs/deg)
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| 50 |
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| 51 |
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| 52 |
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| 53 | };
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| 54 |
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| 55 | /*DYNA_HT500*/
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| 56 | struct StructureHT500{
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| 57 | road_time_t time,time_cube; // DBT timestamp
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| 58 | road_timerange_t timerange; // DBT timerange
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| 59 | double hCaisse_AVG; //the height of the car body at the front left corner (in cm)
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| 60 | double hCaisse_AVD; //the height of the car body at the front right corner (in cm)
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| 61 | double hCaisse_ARG; //the height of the car body at the rear left corner (in cm)
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| 62 | double hCaisse_ARD; //the height of the car body at the rear right corner (in cm)
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| 63 | };
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| 64 |
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| 65 |
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| 66 | /*DYNA_CUBE_RAWDATA*/
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| 67 | struct StructureCubeRawData{
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| 68 | road_time_t time,time_cube; // DBT timestamp
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| 69 | road_timerange_t timerange; // DBT timerange
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| 70 | double debat_AVG; //deflection of the front left suspension (in cm)
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| 71 | double debat_AVD; //deflection of the front right suspension (in cm)
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| 72 | double debat_ARG; //deflection of the rear left suspension (in cm)
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| 73 | double debat_ARD; //deflection of the rear right suspension (in cm)
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| 74 |
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| 75 | double hCaisse_AVG; //the height of the car body at the front left corner (in cm)
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| 76 | double hCaisse_AVD; //the height of the car body at the front right corner (in cm)
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| 77 | double hCaisse_ARG; //the height of the car body at the rear left corner (in cm)
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| 78 | double hCaisse_ARD; //the height of the car body at the rear right corner (in cm)
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| 79 |
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| 80 | double derivear; //sideslip angle at the back of the car (in degree)
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| 81 | double normal_vitesse; //normal speed (in km/h)
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| 82 | double vitesse_x; //longitudinal speed (in km/h)
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| 83 | double vitesse_y; //tranversal speed (in km/h)
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| 84 |
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| 85 | /////////////////////front left wheel///////////////
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| 86 | double fx_AVG; //longitudinal force of the front left wheel (in mv/N)
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| 87 | double fy_AVG; //vertical force of the front left wheel (in mv/N)
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| 88 | double fz_AVG; //lateral force of the front left wheel (in mv/N)
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| 89 | double mx_AVG; //longitudinal moment of the front left wheel (in mv/N)
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| 90 | double my_AVG; //vertical moment of the front left wheel (in mv/N.m)
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| 91 | double mz_AVG; //lateral moment of the front left wheel (in mv/N.m)
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| 92 | double angle_AVG; //front left wheel angle (v/deg)
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| 93 | double omega_AVG; //angular velociet of the front left wheel (in vs/deg)
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| 94 |
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| 95 | /////////////////////rear left wheel///////////////
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| 96 | double fx_ARG; //longitudinal force of the rear left wheel (in mv/N)
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| 97 | double fy_ARG; //vertical force of the rear left wheel (in mv/N)
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| 98 | double fz_ARG; //lateral force of the rear left wheel (in mv/N)
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| 99 | double mx_ARG; //longitudinal moment of the rear left wheel (in mv/N)
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| 100 | double my_ARG; //vertical moment of the rear left wheel (in mv/N)
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| 101 | double mz_ARG; //lateral moment of the rear left wheel (in mv/N)
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| 102 | double angle_ARG; //rear left wheel angle (v/deg)
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| 103 | double omega_ARG; //angular velociet of the rear left wheel (in vs/deg)
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| 104 |
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| 105 | /////////////////////front right wheel///////////////
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| 106 | double fx_AVD; //longitudinal force of the front right wheel (in mv/N)
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| 107 | double fy_AVD; //vertical force of the front right wheel (in mv/N)
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| 108 | double fz_AVD; //lateral force of the front right wheel (in mv/N)
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| 109 | double mx_AVD; //longitudinal moment of the front right wheel (in mv/N)
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| 110 | double my_AVD; //vertical moment of the front right wheel (in mv/N)
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| 111 | double mz_AVD; //lateral moment of the front right wheel (in mv/N)
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| 112 | double angle_AVD; //front right wheel angle (v/deg)
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| 113 | double omega_AVD; //angular velociet of the front right wheel (in vs/deg)
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| 114 |
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| 115 | /////////////////////rear left wheel///////////////
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| 116 | double fx_ARD; //longitudinal force of the rear right wheel (in mv/N)
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| 117 | double fy_ARD; //vertical force of the rear right wheel (in mv/N)
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| 118 | double fz_ARD; //lateral force of the rear right wheel (in mv/N)
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| 119 | double mx_ARD; //longitudinal moment of the rear right wheel (in mv/N)
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| 120 | double my_ARD; //vertical moment of the rear right wheel (in mv/N)
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| 121 | double mz_ARD; //lateral moment of the rear right wheel (in mv/N)
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| 122 | double angle_ARD; //rear right wheel angle (v/deg)
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| 123 | double omega_ARD; //angular velociet of the rear right wheel (in vs/deg)
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| 124 |
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| 125 | };
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| 126 |
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| 127 | #endif |
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