integration.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:    common/Integration.h
    Description:  definitions of integration structures
                  integrate the continuous steps in the same dynamic state,
                    categoried as stopping, running and accelerating

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

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

    Author:       [e-mail]	
    Upadate:
      2008/09/17  File founded

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

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

#ifndef __INTEGRATION_H__
#define __INTEGRATION_H__

#include "../include/Setting.h"
#include "../include/Coordinate.h"
#include "../map/SubMap.h"

/******************************                   Data structures                           ***************************************************/
/*Integration type*/
enum DynType{initial,running,stopping,accelerating};                    /*Dynamic type according to vehicle dynamics*/

/*Integrated period structure*/
typedef struct PERIOD
{
    /*Integration records*/
    DynType         type;                                               /*Dynamic type*/
    TIME            beginTime;                                          /*The begin time of the integrated period*/

    /*Linkage records*/
    LINKPTR         link;                                               /*Matched link*/
    RoadDir         direction;                                          /*Running direction on the matched link*/

    /*Measurement records*/
    DATATYPE        turnAngle;                                          /*Angle turned during the period*/
    DATATYPE        runDis;                                             /*Distance run during the period*/

    inline PERIOD& operator= (const PERIOD& period)
    { type = period.type; beginTime = period.beginTime; turnAngle = period.turnAngle; runDis = period.runDis; 
      link = period.link; direction = period.direction; return *this;}; /*Copy-constructor*/
}PERIOD,*PERIODPTR;

#endif /*__INTEGRATION_H__*/