[89] | 1 | // %pacpus:license{
|
---|
| 2 | // This file is part of the PACPUS framework distributed under the
|
---|
| 3 | // CECILL-C License, Version 1.0.
|
---|
| 4 | // %pacpus:license}
|
---|
| 5 | /// @file
|
---|
| 6 | /// @author Gerald Dherbomez <firstname.surname@utc.fr>
|
---|
| 7 | /// @author Marek Kurdej <firstname.surname@utc.fr>
|
---|
| 8 | /// @date February, 2006
|
---|
| 9 | /// @version $Id: pacpus.h 76 2013-01-10 17:05:10Z kurdejma $
|
---|
| 10 | /// @copyright Copyright (c) UTC/CNRS Heudiasyc 2006 - 2013. All rights reserved.
|
---|
| 11 | /// @brief Brief description.
|
---|
| 12 | ///
|
---|
| 13 | /// Detailed description.
|
---|
| 14 |
|
---|
| 15 | #ifndef DEF_PACPUS_H
|
---|
| 16 | #define DEF_PACPUS_H
|
---|
| 17 |
|
---|
| 18 | #include <Pacpus/kernel/road_time.h>
|
---|
| 19 |
|
---|
| 20 | /// Pi math constant
|
---|
| 21 | ///
|
---|
| 22 | /// @deprecated Use M_PI from \<cmath\>.
|
---|
| 23 | #ifndef PACPUS_PI
|
---|
| 24 | # define PACPUS_PI 3.1415926
|
---|
| 25 | #endif
|
---|
| 26 |
|
---|
| 27 | /// Export macro for PacpusLib DLL for Windows only
|
---|
| 28 | #ifdef WIN32
|
---|
| 29 | # ifdef PACPUSLIB_EXPORTS
|
---|
| 30 | // make DLL
|
---|
| 31 | # define PACPUSLIB_API __declspec(dllexport)
|
---|
| 32 | # else
|
---|
| 33 | // use DLL
|
---|
| 34 | # define PACPUSLIB_API __declspec(dllimport)
|
---|
| 35 | # endif
|
---|
| 36 | #else
|
---|
| 37 | // On other platforms, simply ignore this
|
---|
| 38 | # define PACPUSLIB_API
|
---|
| 39 | #endif
|
---|
| 40 |
|
---|
| 41 | /// @def PACPUS_DEPRECATED(func)
|
---|
| 42 | /// Develops to the function or method declaration @b func
|
---|
| 43 | /// and marks it as deprecated.
|
---|
| 44 |
|
---|
| 45 | /// @def PACPUS_DEPRECATED_MSG(func, msg)
|
---|
| 46 | /// Develops to the function or method declaration @b func
|
---|
| 47 | /// and marks it as deprecated with a given comment @b msg.
|
---|
| 48 | #ifdef __GNUC__
|
---|
| 49 | # define PACPUS_DEPRECATED(func) func __attribute__ ((deprecated))
|
---|
| 50 | # define PACPUS_DEPRECATED_MSG(func, msg) PACPUS_DEPRECATED(func)
|
---|
| 51 | #elif defined(_MSC_VER)
|
---|
| 52 | # define PACPUS_DEPRECATED(func) __declspec(deprecated) func
|
---|
| 53 | # define PACPUS_DEPRECATED_MSG(func, msg) __declspec(deprecated("was declared deprecated: " msg)) func
|
---|
| 54 | #else
|
---|
| 55 | # pragma message("WARNING: You need to implement PACPUS_DEPRECATED for this compiler")
|
---|
| 56 | # define PACPUS_DEPRECATED(func) func
|
---|
| 57 | # define PACPUS_DEPRECATED_MSG(func, msg) func
|
---|
| 58 | #endif
|
---|
| 59 |
|
---|
[181] | 60 | struct donnees_gps
|
---|
| 61 | {
|
---|
| 62 | long ind_qualite;
|
---|
| 63 | double x, y;
|
---|
| 64 | double lon, lat;
|
---|
| 65 | float a, b, phi, sigma_lat, sigma_lon;
|
---|
| 66 | road_time_t time;
|
---|
| 67 | double alt_msl, d_geoidal;
|
---|
| 68 | };
|
---|
| 69 |
|
---|
| 70 | struct donnees_abs_zy
|
---|
| 71 | {
|
---|
| 72 | float dArD, dArG;
|
---|
| 73 | float speed;
|
---|
| 74 | road_time_t time;
|
---|
| 75 | };
|
---|
| 76 |
|
---|
| 77 | struct donnees_gyro
|
---|
| 78 | {
|
---|
| 79 | // les mesures sont prises par rapport au point C
|
---|
| 80 | // position de la centrale inertielle
|
---|
| 81 | // vitesse de lacet (rad.s-1) dans le repère de la masse suspendue
|
---|
| 82 | float psi_s;
|
---|
| 83 | road_time_t time;
|
---|
| 84 | };
|
---|
| 85 |
|
---|
| 86 | /// Definition of the structure which will be sent for each positioning
|
---|
| 87 | /// requests -> MapMatching.cpp
|
---|
| 88 | struct s_MatchedPosition
|
---|
| 89 | {
|
---|
| 90 | int state; /* Etat du serveur de position absolue hybridée*/
|
---|
| 91 | double x_match; /* Position Matchée */
|
---|
| 92 | double y_match; /* en x et y */
|
---|
| 93 | double x; /* Position du véhicule */
|
---|
| 94 | double y; /* en x et y */
|
---|
| 95 | double theta; /* cap (par rapport à l'est) dans le système de la carte */
|
---|
| 96 | double v; /* vitesse horizontale par rapport à la terre */
|
---|
| 97 | unsigned long ID; /* ID de la route à laquelle appartient la position matchée */
|
---|
| 98 | road_time_t time;
|
---|
| 99 | int way; /* Sens de la route parcourue 1=W2E, 2=E2W*/
|
---|
| 100 | double dist; /* abscisse curviligne par rapport au début de la route */
|
---|
| 101 | double pxx, pyy, pxy; /* covariance de l'erreur en position absolue*/
|
---|
| 102 | double ptheta; /*covariance de l'erreur en cap*/
|
---|
| 103 | double error;
|
---|
| 104 | donnees_gyro gyro;
|
---|
| 105 | donnees_abs_zy odo;
|
---|
| 106 | };
|
---|
| 107 |
|
---|
[89] | 108 | #endif // DEF_PACPUS_H
|
---|