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| //
| // Created by YY on 2019/10/21.
| //
|
| #ifndef RTKDRIVERTEST_DRIVER_TEST_H
| #define RTKDRIVERTEST_DRIVER_TEST_H
|
| #include "Geometry.h"
|
| struct rtk_info {
| int YY;
| int MM;
| int DD;
| int hh;
| int mm;
| int ss;
| int dss;
| int qf;
| double heading;
| double x;
| double y;
| };
|
| #define TIRE_OUTSIDE 0
| #define TIRE_INSIDE 1
|
| // 总数
| // 中轴线前点,id 0，中轴线后点id
| // 左包围， 右包围
| // 左前轮，外内
| typedef struct {
| int body_num;
| int body[64];
| int front_left_tire[2];
| int front_right_tire[2];
| int rear_left_tire[2];
| int rear_right_tire[2];
| } carModelDesc_t;
|
| typedef struct {
| uint32_t uptime;
| int point_num;
| PointF *points;
| carModelDesc_t *desc;
| } car_model_cache_t;
|
| void DriverTestInit(void);
| void UpdateRTKInfo(struct rtk_info *s);
| void UpdateCarCoord(void);
| car_model_cache_t *GetCarModelCache(int node);
|
| #endif //RTKDRIVERTEST_DRIVER_TEST_H
|
|
