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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