86 lines
2.7 KiB
C++
86 lines
2.7 KiB
C++
/******************** (C) COPYRIGHT 2020 Geek************************************
|
||
* File Name : pdr_main.h
|
||
* Department : Sensor Algorithm Team
|
||
* Current Version : V2.0
|
||
* Author :
|
||
|
||
& yuanlin@vivo.cm
|
||
* Date of Issued : 2020.7.18
|
||
* Comments : PDR导航算法平台配置文件
|
||
********************************************************************************/
|
||
#ifdef __cplusplus
|
||
extern "C" {
|
||
#endif
|
||
|
||
#ifndef _PDR_MAIN_H_
|
||
#define _PDR_MAIN_H_
|
||
#include <string>
|
||
|
||
using namespace std;
|
||
|
||
#define PATH_MAX 256
|
||
#define TRACK_MAX 100000
|
||
|
||
typedef struct LatLngd {
|
||
double lat;
|
||
double lon;
|
||
double heading;
|
||
double hdop;
|
||
double accuracy;
|
||
double vel;
|
||
double time;
|
||
int motionType;
|
||
} LatLngd;
|
||
|
||
typedef struct ResultTracks {
|
||
LatLngd gpsTrack[TRACK_MAX];
|
||
LatLngd pdrTrack[TRACK_MAX];
|
||
int gpsLen;
|
||
int pdrLen;
|
||
}ResultTracks;
|
||
|
||
/**----------------------------------------------------------------------
|
||
* Function : pdr_writeKml
|
||
* Description : 将pdr算法输出的gps和pdr轨迹写为kml形式
|
||
* path : kml文件的输出文件路径
|
||
* name : kml文件主体名称
|
||
* postfix ：在主体名称后面添加的后缀，用于区分类型或者版本
|
||
* Date : 2020/11/1 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
void KmlWrite(string path, string name, string postfix);
|
||
|
||
/**----------------------------------------------------------------------
|
||
* Function : getSimulateFileFp
|
||
* Description : 给定文件名，以及文件路径，获取仿真文件的文件指针
|
||
* Date : 2021/01/25 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
FILE* getSimulateFile(FILE* catalogFp, string path_file, string& fileHead);
|
||
|
||
/**----------------------------------------------------------------------
|
||
* Function : gpsYaw2GoogleYaw
|
||
* Description : 为了让kml显示的角度方位正常，需要把0-360顺时针旋转的Yaw转换
|
||
* 为谷歌支持的Yaw规则
|
||
* Date : 2021/01/25 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
double gpsYaw2GoogleYaw(double heading);
|
||
|
||
/**----------------------------------------------------------------------
|
||
* Function : Motion2TypeStr
|
||
* Description : 把用户运动类型转换为字符串输出
|
||
* Date : 2022/9/16 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
const char* Motion2TypeStr(int type);
|
||
|
||
/**----------------------------------------------------------------------
|
||
* Function : updateResTrack
|
||
* Description : 更新新输出的结果轨迹，包含GPS轨迹和PDR轨迹
|
||
* Date : 2021/01/25 logzhan
|
||
*---------------------------------------------------------------------**/
|
||
void updateResTrack(ResultTracks& resTrack, lct_fs& lctfs);
|
||
|
||
#endif
|
||
|
||
#ifdef __cplusplus
|
||
}
|
||
#endif
|