source: pacpusframework/branches/2.0-beta1/include/Pacpus/structure/structure_cube.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: 6.8 KB
Line 
1#ifndef _STRUCTURE_CUBE_H_
2#define _STRUCTURE_CUBE_H_
3
4#include "kernel/road_time.h"
5
6 /*DYNA_ROADYN*/
7
8struct StructureRoadynamics{
9 road_time_t time,time_cube; // DBT timestamp
10 road_timerange_t timerange; // DBT timerange
11 /////////////////////front left wheel///////////////
12 double fx_AVG; //longitudinal force of the front left wheel (in mv/N)
13 double fy_AVG; //vertical force of the front left wheel (in mv/N)
14 double fz_AVG; //lateral force of the front left wheel (in mv/N)
15 double mx_AVG; //longitudinal moment of the front left wheel (in mv/N)
16 double my_AVG; //vertical moment of the front left wheel (in mv/N.m)
17 double mz_AVG; //lateral moment of the front left wheel (in mv/N.m)
18 double angle_AVG; //front left wheel angle (v/deg)
19 double omega_AVG; //angular velociet of the front left wheel (in vs/deg)
20
21/////////////////////rear left wheel///////////////
22 double fx_ARG; //longitudinal force of the rear left wheel (in mv/N)
23 double fy_ARG; //vertical force of the rear left wheel (in mv/N)
24 double fz_ARG; //lateral force of the rear left wheel (in mv/N)
25 double mx_ARG; //longitudinal moment of the rear left wheel (in mv/N)
26 double my_ARG; //vertical moment of the rear left wheel (in mv/N)
27 double mz_ARG; //lateral moment of the rear left wheel (in mv/N)
28 double angle_ARG; //rear left wheel angle (v/deg)
29 double omega_ARG; //angular velociet of the rear left wheel (in vs/deg)
30
31 /////////////////////front right wheel///////////////
32 double fx_AVD; //longitudinal force of the front right wheel (in mv/N)
33 double fy_AVD; //vertical force of the front right wheel (in mv/N)
34 double fz_AVD; //lateral force of the front right wheel (in mv/N)
35 double mx_AVD; //longitudinal moment of the front right wheel (in mv/N)
36 double my_AVD; //vertical moment of the front right wheel (in mv/N)
37 double mz_AVD; //lateral moment of the front right wheel (in mv/N)
38 double angle_AVD; //front right wheel angle (v/deg)
39 double omega_AVD; //angular velociet of the front right wheel (in vs/deg)
40
41 /////////////////////rear left wheel///////////////
42 double fx_ARD; //longitudinal force of the rear right wheel (in mv/N)
43 double fy_ARD; //vertical force of the rear right wheel (in mv/N)
44 double fz_ARD; //lateral force of the rear right wheel (in mv/N)
45 double mx_ARD; //longitudinal moment of the rear right wheel (in mv/N)
46 double my_ARD; //vertical moment of the rear right wheel (in mv/N)
47 double mz_ARD; //lateral moment of the rear right wheel (in mv/N)
48 double angle_ARD; //rear right wheel angle (v/deg)
49 double omega_ARD; //angular velociet of the rear right wheel (in vs/deg)
50
51
52
53};
54
55 /*DYNA_HT500*/
56struct StructureHT500{
57 road_time_t time,time_cube; // DBT timestamp
58 road_timerange_t timerange; // DBT timerange
59 double hCaisse_AVG; //the height of the car body at the front left corner (in cm)
60 double hCaisse_AVD; //the height of the car body at the front right corner (in cm)
61 double hCaisse_ARG; //the height of the car body at the rear left corner (in cm)
62 double hCaisse_ARD; //the height of the car body at the rear right corner (in cm)
63 };
64
65
66/*DYNA_CUBE_RAWDATA*/
67struct StructureCubeRawData{
68 road_time_t time,time_cube; // DBT timestamp
69 road_timerange_t timerange; // DBT timerange
70 double debat_AVG; //deflection of the front left suspension (in cm)
71 double debat_AVD; //deflection of the front right suspension (in cm)
72 double debat_ARG; //deflection of the rear left suspension (in cm)
73 double debat_ARD; //deflection of the rear right suspension (in cm)
74
75 double hCaisse_AVG; //the height of the car body at the front left corner (in cm)
76 double hCaisse_AVD; //the height of the car body at the front right corner (in cm)
77 double hCaisse_ARG; //the height of the car body at the rear left corner (in cm)
78 double hCaisse_ARD; //the height of the car body at the rear right corner (in cm)
79
80 double derivear; //sideslip angle at the back of the car (in degree)
81 double normal_vitesse; //normal speed (in km/h)
82 double vitesse_x; //longitudinal speed (in km/h)
83 double vitesse_y; //tranversal speed (in km/h)
84
85 /////////////////////front left wheel///////////////
86 double fx_AVG; //longitudinal force of the front left wheel (in mv/N)
87 double fy_AVG; //vertical force of the front left wheel (in mv/N)
88 double fz_AVG; //lateral force of the front left wheel (in mv/N)
89 double mx_AVG; //longitudinal moment of the front left wheel (in mv/N)
90 double my_AVG; //vertical moment of the front left wheel (in mv/N.m)
91 double mz_AVG; //lateral moment of the front left wheel (in mv/N.m)
92 double angle_AVG; //front left wheel angle (v/deg)
93 double omega_AVG; //angular velociet of the front left wheel (in vs/deg)
94
95/////////////////////rear left wheel///////////////
96 double fx_ARG; //longitudinal force of the rear left wheel (in mv/N)
97 double fy_ARG; //vertical force of the rear left wheel (in mv/N)
98 double fz_ARG; //lateral force of the rear left wheel (in mv/N)
99 double mx_ARG; //longitudinal moment of the rear left wheel (in mv/N)
100 double my_ARG; //vertical moment of the rear left wheel (in mv/N)
101 double mz_ARG; //lateral moment of the rear left wheel (in mv/N)
102 double angle_ARG; //rear left wheel angle (v/deg)
103 double omega_ARG; //angular velociet of the rear left wheel (in vs/deg)
104
105 /////////////////////front right wheel///////////////
106 double fx_AVD; //longitudinal force of the front right wheel (in mv/N)
107 double fy_AVD; //vertical force of the front right wheel (in mv/N)
108 double fz_AVD; //lateral force of the front right wheel (in mv/N)
109 double mx_AVD; //longitudinal moment of the front right wheel (in mv/N)
110 double my_AVD; //vertical moment of the front right wheel (in mv/N)
111 double mz_AVD; //lateral moment of the front right wheel (in mv/N)
112 double angle_AVD; //front right wheel angle (v/deg)
113 double omega_AVD; //angular velociet of the front right wheel (in vs/deg)
114
115 /////////////////////rear left wheel///////////////
116 double fx_ARD; //longitudinal force of the rear right wheel (in mv/N)
117 double fy_ARD; //vertical force of the rear right wheel (in mv/N)
118 double fz_ARD; //lateral force of the rear right wheel (in mv/N)
119 double mx_ARD; //longitudinal moment of the rear right wheel (in mv/N)
120 double my_ARD; //vertical moment of the rear right wheel (in mv/N)
121 double mz_ARD; //lateral moment of the rear right wheel (in mv/N)
122 double angle_ARD; //rear right wheel angle (v/deg)
123 double omega_ARD; //angular velociet of the rear right wheel (in vs/deg)
124
125};
126
127#endif
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