57 lines
1.8 KiB
C
57 lines
1.8 KiB
C
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/******************** (C) COPYRIGHT 2020 Geek************************************
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* File Name : LapProcess.h
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* Department : Sensor Algorithm Team
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* Current Version : V1.0
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* Author : logzhan
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* Date of Issued : 2020.8.4
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* Comments : <EFBFBD><EFBFBD>Ȧģʽ<EFBFBD>Ż<EFBFBD>
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********************************************************************************/
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#ifndef _LAPPROCESS_H_
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#define _LAPPROCESS_H_
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#ifdef __cplusplus
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extern "C" {
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#endif
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/* Header File Including ------------------------------------------------------------------------ */
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#include <stdio.h>
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#include <math.h>
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#include <string.h>
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#include "pdr_util.h"
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#include "pdr_sensor.h"
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#include "pdr_base.h"
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/* Macro Definition ----------------------------------------------------------------------------- */
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#define FIND_CIRCLE 1
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#define NO_CIRCLE 0
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#define ADJ_CIRCLE 1
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#define NADJ_CIRCLE 0
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#define DIST_THRESHOLD 25
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/* Function Declaration ------------------------------------------------------------------------- */
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void lapInit();
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void lapProcess(GNSS_t pgnss, lct_fs *result);
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void pdr_cacheTrajs(GNSS_t pgnss, lct_fs *result);
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int pdr_adjustTraj(double trajs[][2], int count);
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double pdr_getPointYaw(double point1[], double point2[]);
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void pdr_pathMap(TrajSign* trajs, double point[2], double yaw, double projPoint[2]);
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double pdr_optiFromTrajs(GNSS_t pgnss, lct_fs *lct_fusion);
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int pdr_findTun(TrajSign* refTrajs, double point[], double heading);
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int pdr_fuseRefTraj(TrajSign* tunnelTrajs, TrajSign* refTrajs, double newRefLoc[][2]);
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unsigned char pdr_point2line(double point[], double lineStart[], double lineEnd[], double projLoc[]);
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void ProjPointOfLoop(double point1[], double yaw, double point2[], double result[]);
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double lap_calDistance(double lla1[2], double lla2[2]);
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#ifdef __cplusplus
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}
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#endif
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#endif // !_LAPPROCESS_H_
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