source: pacpusframework/trunk/include/Pacpus/kernel/pacpus.h@ 196

Last change on this file since 196 was 196, checked in by Marek Kurdej, 11 years ago

Fixed: using auto-generated PacpusLibConfig.h instead of pacpus.h.

  • Property svn:executable set to *
File size: 3.1 KB
Line 
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/// @def PACPUS_DEPRECATED(func)
28/// Develops to the function or method declaration @b func
29/// and marks it as deprecated.
30
31/// @def PACPUS_DEPRECATED_MSG(func, msg)
32/// Develops to the function or method declaration @b func
33/// and marks it as deprecated with a given comment @b msg.
34#ifdef __GNUC__
35# define PACPUS_DEPRECATED(func) func __attribute__ ((deprecated))
36# define PACPUS_DEPRECATED_MSG(func, msg) PACPUS_DEPRECATED(func)
37#elif defined(_MSC_VER)
38# define PACPUS_DEPRECATED(func) __declspec(deprecated) func
39# define PACPUS_DEPRECATED_MSG(func, msg) __declspec(deprecated("was declared deprecated: " msg)) func
40#else
41# pragma message("WARNING: You need to implement PACPUS_DEPRECATED for this compiler")
42# define PACPUS_DEPRECATED(func) func
43# define PACPUS_DEPRECATED_MSG(func, msg) func
44#endif
45
46struct donnees_gps
47{
48 long ind_qualite;
49 double x, y;
50 double lon, lat;
51 float a, b, phi, sigma_lat, sigma_lon;
52 road_time_t time;
53 double alt_msl, d_geoidal;
54};
55
56struct donnees_abs_zy
57{
58 float dArD, dArG;
59 float speed;
60 road_time_t time;
61};
62
63struct donnees_gyro
64{
65 // les mesures sont prises par rapport au point C
66 // position de la centrale inertielle
67 // vitesse de lacet (rad.s-1) dans le repère de la masse suspendue
68 float psi_s;
69 road_time_t time;
70};
71
72/// Definition of the structure which will be sent for each positioning
73/// requests -> MapMatching.cpp
74struct s_MatchedPosition
75{
76 int state; /* Etat du serveur de position absolue hybridée*/
77 double x_match; /* Position Matchée */
78 double y_match; /* en x et y */
79 double x; /* Position du véhicule */
80 double y; /* en x et y */
81 double theta; /* cap (par rapport à l'est) dans le système de la carte */
82 double v; /* vitesse horizontale par rapport à la terre */
83 unsigned long ID; /* ID de la route à laquelle appartient la position matchée */
84 road_time_t time;
85 int way; /* Sens de la route parcourue 1=W2E, 2=E2W*/
86 double dist; /* abscisse curviligne par rapport au début de la route */
87 double pxx, pyy, pxy; /* covariance de l'erreur en position absolue*/
88 double ptheta; /*covariance de l'erreur en cap*/
89 double error;
90 donnees_gyro gyro;
91 donnees_abs_zy odo;
92};
93
94#endif // DEF_PACPUS_H
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