source: pacpussensors/trunk/StereoVisionDisparity/SensorsApplicationStructures.h@ 57

#ifndef _SENSORSAPPLICATIONSTRUCTURES_H_
#define _SENSORSAPPLICATIONSTRUCTURES_H_

#include "Pacpus/kernel/cstdint.h"
#include "Pacpus/kernel/road_time.h"

#include "../StdDbtPlayerComponents/ImageBaseStructure.h"

// some constants defined for the Alasca component
static const uint32_t MAX_SENSOR_POINTS = 500;
static const uint32_t MAX_GRID_POINTS = 360;
static const uint32_t MAX_SENSOR_GRID_POINTS = (uint32_t)(500*500);

//----------------- Sensor Occupancy Grid Properties -------------
typedef struct  
{
        //------------------------- Default parameters --------------------------------------
        std::string sensors_name;       // sensor input name
        int type;                                       // sensor reading type: 0 = laser; 1 = stereo camera like laser; 2 = generic sensor
        double x;                                       // sensor pose related to the robot frame
        double y;                                       // sensor pose related to the robot frame
        double theta;                           // sensor pose related to the robot frame

        //------------------------ Specifique parameters ------------------------------------
    int num_readings;                   // number of readings
        double sigma_zt;                        // standard deviantion in distance. For the camera = s_div*2.0 (2 meters)
        double sigma_thetat;            // standard deviation in angle. For the camera = CV_PI*(camera_FOV/num_readings)/180.0
        double max_range;                       // maximum range of the sensor
        int mMaxSensorInputSize;        // size of the input data of sensor
        bool use_udp;                           // if the data is from the udp connection

        //--------------------------- UDP parameters ----------------------------------------
        std::string host_address;       // IP address to receive the data
        unsigned int port;                      // communication port
} s_properties; // Sensor properties

//----------------- Camera Obstacle Data -------------------------
// Camera obstacle data as laser readings
typedef struct  
{
    int num_readings;                                   // number of readings
        double radius[MAX_SENSOR_POINTS];       // distance measurements
        double angle[MAX_SENSOR_POINTS];        // angle of each measurement
} camera_occ_data; // Sensor properties

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    camera_occ_data data;
} TimestampedCameraOccData;
//----------------------------------------------------------------

//-------------------- Sensor Grid Data --------------------------
// Generic sensor occupancy grid
typedef struct  
{
    int rows;                                                           // number of rows
        int cols;                                                               // number of cols
        float sensor_x0;                                                // sensor x origin in the occ data (x orientated to the right)
        float sensor_y0;                                                // sensor y origin in the occ data
        float sensor_x;                                                 // sensor x position in the robot frame
        float sensor_y;                                                 // sensor y position in the robot frame
        float sensor_theta;                                             // sensor theta orientation in the robot frame
        float ratio;                                                    // sensor grid ratio (m/px)
        float occ_data[MAX_SENSOR_GRID_POINTS]; // sensor occupancy grid data with size rows*cols
} sensor_occ_data; // Sensor properties

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    sensor_occ_data data;
} TimestampedSensorOccData;
//----------------------------------------------------------------

//------------------ Occupancy Grid Data -------------------------
typedef struct  
{
    int num_readings;                           // number of readings
        double radius[MAX_GRID_POINTS]; // distance measurements
        double angle[MAX_GRID_POINTS];  // angle of each measurement
} occ_grid_data; // Sensor properties

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    occ_grid_data data;
} TimestampedOccGridData;
//----------------------------------------------------------------

//--------------------- Robot State Data -------------------------
typedef struct  
{
        double x;                       // Delta X related to the last frame
        double y;                       // Delta Y related to the last frame
        double theta;           // Delta theta (orientation angle) related to the last frame
        double phi;                     // Delta phi (steering angle) related to the last frame
} robot_pose_data; // pose properties

typedef struct  
{
        double v1;                      // Linear velocity
        double v2;                      // Steering angle velocity
} robot_velocity_data; // velocities properties

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    robot_pose_data pose_data;
        robot_velocity_data velocity_data;
} TimestampedRobotStateData;
//----------------------------------------------------------------

//------------------ Line Features Data -------------------------
typedef struct  
{
        int center_point_x, 
                center_point_y;                         // Reference line point
        double center_angle;                    // Reference line angle
        // For road surface
        int left_point_x,
                 left_point_y;                          // Left road boundary
        double left_angle;                              // Left road boundary angle
        int right_point_x,
                right_point_y;                          // Left road boundary
        double right_angle;                             // Left road boundary angle
} line_features_data; // line features

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    line_features_data data;
} TimestampedLineFeaturesData;
//----------------------------------------------------------------

//------------------ Robot Control Inputs -------------------------
typedef struct  
{
        double v1;                              // Linear velocity in km/h
        double v2;                              // Angular velocity for the wifibot and Steering 
                                                        // angle velocity for the car-like robot in degrees/s
        double phi;                             // Final steering angle setpoint in degrees
        double acc;                             // Desired acceleration/deceleration m/s^2
} control_data; // Control Data

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    control_data data;
} TimestampedControlData;
//----------------------------------------------------------------

//------------------ CAN DATA -------------------------
typedef struct  
{
        double frontLeftWheelSpeed;      ///< speed of the front left wheel (in m/s)
        double frontRightWheelSpeed;     ///< speed of the front right wheel (in m/s)
        double rearLeftWheelSpeed;       ///< speed of the rear left wheel (in m/s)
        double rearRightWheelSpeed;      ///< speed of the rear right wheel (in m/s)
        double averageFrontWheelSpeed;   ///< average front wheels speed (in m/s)
} CANSpeed_data; // Speed data

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    CANSpeed_data data;
} TimestampedCANSpeedData;

typedef struct  
{
        double angle;                ///< in rad positive in trigonometric direction (to the left)
    double rotationSpeed;        ///< in rad/s
} CANSteering_data; // Steering data converted to the front wheel frame

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    CANSteering_data data;
} TimestampedCANSteeringData;
//----------------------------------------------------------------

//------------------ Visual Odometry Data -------------------------
typedef struct  
{
        double delta_d;                         // Camera translaction from the last interaction
        double delta_theta;                     // Camera angle relate to the last camera frame
        double delta_t;                         // Time interval between calculations
} viso_data; // Visual odometry Data

typedef struct
{
    road_time_t time;
    road_timerange_t timerange;
    viso_data data;
} TimestampedVisoData;
//----------------------------------------------------------------

#endif