speedometer.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:    include/Speedometer.h
    Description:  Speedometer data structure definition and its transformation

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

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

    Author:       [e-mail]	
    Upadate:
      2008/09/16  File founded

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

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

#ifndef __SPEEDOMETER_H__
#define __SPEEDOMETER_H__

#include <math.h>
#include "../include/Setting.h"

/******************************                   Data structures                           ***************************************************/
/*Raw data structure*/
typedef DATATYPE VELRAW;                                                /*Velocities in kilometers per hour*/

/*Formatted data structure*/
typedef DATATYPE VEL;                                                   /*Velocities in meters per second*/


/******************************                   Synchronition parameters                  ***************************************************/
const TIME VELPeriod = 10;                                              /*Speedometer period time, measured in milliseconds*/


/******************************                   Transformation constants                  ***************************************************/
const DATATYPE VelocityGain = DATATYPE(1/3.6);                          /*Transform km/h to m/s*/


/******************************                   Transformation function definitions       ***************************************************/
inline void VELRAW2VEL(const VELRAW& raw, VEL& vel);                    /*Transform raw data from speedometer*/
inline void VEL2VELRAW(const VEL& vel, VELRAW& raw);                    /*Transform speedometer data to raw format*/


/******************************                   Transformation function implementations   ***************************************************/
void VELRAW2VEL(const VELRAW& raw, VEL& vel)
{
    vel = raw * VelocityGain;
}

void VEL2VELRAW(const VEL& vel, VELRAW& raw)
{
    raw = vel / VelocityGain;
}

#endif /*__SPEEDOMETER_H__*/