interface.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/Interface.h
    Description:  Interface of map matching algorithm, abstract class definition
                  Sensor definitions:
                    0: GPS, sometimes available, take only one
                    1: IMU, always available, take a sequence
                    2: Speedometer, always available, take a sequence

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

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

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

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

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

#ifndef __INTERFACE_H__
#define __INTERFACE_H__

#include "../include/Coordinate.h"
#include "../include/Result.h"
#include "../map/SubMap.h"
#include "../map/LoadSubMap.h"

/******************************                   Definitions of the interface              ***************************************************/
/*Definition of map matching interface, abstract class*/
typedef class Interface
{
protected:
    /*Variables*/
    SUBMAP          submap;                                             /*Submap of the region*/
    TIME            curTime;                                            /*Current time stamp in milliseconds*/

public:
    Interface();
    virtual ~Interface()=0;

    virtual RETCHECK Update(void* sensors[], TIME time)=0;              /*Update with sensor measurements*/
    virtual RETCHECK GetResult(TIME time, RESULT& result)=0;            /*Matching result at given time*/
    virtual UINT GetRoute(UINT count, ROUTE route[])=0;                 /*Recent route, including several links according to count*/

    RETCHECK LoadSubMapFile(const char* mapPath);                       /*Load submap from file*/
}Interface;

#endif /*__INTERFACE_H__*/