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