mhbase.h

基于多假设的地图匹配算法。程序能够根据车辆在行驶过程中收集到的GPS/DR数据正确得到当前车辆所在的道路位置。

/******************************************************************************

    File Name:   MH/MHBase.h
    Description: Multi-hypothesis map matching, abstract class

******************************************************************************/

/******************************************************************************

    Author: [e-mail]	
    Upadate:
        2008/09/19  File founded

    Copyright 2008-2009 Robot Lab., Dept.of Automation, Tsinghua University

******************************************************************************/

#ifndef __MHBASE_H__
#define __MHBASE_H__

#include "../MH/MultiHypo.h"

/******************************                   Operations of multi-hypothesis matching   ***************************************************/
/*Dynamic parameters*/
const DATATYPE StopVel = DATATYPE(1);                                   /*Stopping velocity limit for dynamic determination*/
const DATATYPE StopAngVel = DATATYPE(0.05);                             /*Stopping angular velocity limit for dynamic determination*/
const DATATYPE RunVel = DATATYPE(5);                                    /*Running velocity limit for dynamic determination*/
const DATATYPE RunAngVel = DATATYPE(0.20);                              /*Running angular velocity limit for dynamic determination*/

/*Generation parameters*/
const DATATYPE InitialDisSq = DATATYPE(2500);                           /*GPS distance square limit for Initialization*/
const DATATYPE MaxDisError = DATATYPE(0.30);                            /*Maximum error of odometry, in proportion*/
const DATATYPE MaxDisOffset = DATATYPE(20);                             /*Maximum offset error of odometry, in meters*/
const DATATYPE MaxAngleError = DATATYPE(1.00);                          /*Maximum angle error in turn hypothesis generation*/

/*Multi-hypothesis map matching class*/
typedef class MHBase : public MultiHypo
{
protected:
    COORD           coord;                                              /*Current GPS position*/
    bool            gpsAvail;                                           /*GPS availability label*/
    DynType         dynamic;                                            /*Dynamic of the current step*/
    DATATYPE        runDis;                                             /*Distance run in the current step*/
    DATATYPE        turnAngle;                                          /*Distance run in the current step*/

    /*Preliminary functions*/
    RETCHECK DynamicStat(void* sensors[], TIME time);                   /*Calculate dynamic status according to sensor measurements*/
    virtual DATATYPE Weigh(const HypoNode& hypoOld, const HypoNode& hypoNew)=0;/*Weigh hypotheses (after new hypothesis generated)*/

    /*Hypothesis generation functions*/
    RETCHECK GenInitialHypos(TIME time);                                /*Generate initial hypotheses (after dynamics calculated)*/
    RETCHECK UpdateHypos(TIME time);                                    /*Update hypotheses after a move (after dynamics calculated)*/

public:
    MHBase();                                                           /*Default constructor*/
    ~MHBase()=0;                                                        /*Default destructor*/

    RETCHECK Update(void* sensors[], TIME time);                        /*Update with sensor measurements*/
}MHBase;

#endif /*__MHBASE_H__*/