imu.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/IMU.h
    Description:  IMU 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 __IMU_H__
#define __IMU_H__

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

/******************************                   Data structures                           ***************************************************/
/*Raw data structure*/
typedef struct
{
    DATATYPE        acceleration;                                       /*Accelerations in meters per square second*/
    DATATYPE        angularVelocity;                                    /*Angular velocities in degrees per second, clockwise*/
}IMURAW;

/*Formatted data structure*/
typedef struct
{
    DATATYPE    acceleration;                                           /*Accelerations in meters per square second*/
    DATATYPE    angularVelocity;                                        /*Angular velocities in radians per second, anticlockwise*/
}IMU;


/******************************                   Synchronition parameters                  ***************************************************/
const TIME IMUPeriod = 10;                                              /*IMU period time, measured in milliseconds*/


/******************************                   Transformation constants                  ***************************************************/
const DATATYPE AccelerationGain = DATATYPE(1);                          /*1*/
const DATATYPE AngularGain = -Pi/180;                                   /*Transform deg/s-clockwise to rad/s-anticlockwise*/


/******************************                   Transformation function definitions       ***************************************************/
inline void IMURAW2IMU(const IMURAW& raw, IMU& imu);                    /*Transform raw data from IMU*/
inline void IMU2IMURAW(const IMU& imu, IMURAW& raw);                    /*Transform IMU data to raw format*/


/******************************                   Transformation function implementations   ***************************************************/
void IMURAW2IMU(const IMURAW& raw, IMU& imu)
{
    imu.acceleration = raw.acceleration * AccelerationGain;
    imu.angularVelocity = raw.angularVelocity * AngularGain;
}

void IMU2IMURAW(const IMU& imu, IMURAW& raw)
{
    raw.acceleration = imu.acceleration / AccelerationGain;
    raw.angularVelocity = imu.angularVelocity / AngularGain;
}

#endif /*__IMU_H__*/