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