更新头文件

include/EgoMotionStruct.h

@@ -83,6 +83,7 @@ namespace JfxLocation
 		std::string info;
 		double longitude;//经度
 		double latitude;//纬度
+		double altitude;//海拔
 		int64_t time_stamp;//时间戳，单位微妙milliseconds
 		double longitude_cent;
 		std::string longitude_dir;
@@ -91,8 +92,14 @@ namespace JfxLocation
 		float ground_speed;
 		float ground_course;
 		int64_t gps_time;
-		float altitude;
 		float accuracy;
+		float heading;
+		float pitch_deviation;
+		float longitude_deviation;
+		float latitude_deviation;
+		float height_deviation;
+		double jfx_gps_time;
+		std::string solution_status;
 	};
 	struct IMUFrame
 	{
@@ -149,6 +156,14 @@ namespace JfxLocation
 		int32_t source; // 车道线来源，有感知和预测输出，枚举类型详细可见 LineSource 描述
 		int32_t position; // 车道线位置属性，枚举类型详细可见 LinePosition 描述
 		float conf; //车道线置信度[0~1]
+		//我们的变量
+		float line_c0;//                   # c0 of polynomial
+		float line_c1;//                        # c1 of polynomial
+		int8_t line_side;//                      # enum type :# LEFT_ONE = 1 # RIGHT_ONE = 2 # LEFT_TWO = 3 # RIGHT_TWO = 4
+		int8_t line_type;//                      # enum type : # UNDECIDED = 0 # LANE_MARK = 1 # LANE_EDGE = 2
+		int8_t line_dlm_type;//                 # double line type, enum type :# NOT_DLM = 0 # SOLID_DASHED = 1, left solid and right dashed # DASHED_SOLID = 2, left dashed and right solid # SOLID_SOLID = 3, double solid # DASHED_DASHED = 4, double dashed # UNDECIDED = 5
+		int8_t line_lane_mark_type;//# line type of line, enum type :# UNDECIDED = 0 # SOLID = 1 # DASHED = 2 # DLM = 3 # BOTTS = 4, Botts dots, salient point # HOV_LANE, high - occupancy vehicle lane
+		int8_t line_color;//# line color, enum type : # UNDECIDED = 0 # WHITE = 1 # YELLOW_ORANGE_RED = 2 # BLUE_GREEN = 3
 	};
 
 	struct Lines
@@ -157,6 +172,17 @@ namespace JfxLocation
 		std::vector<Line> lines;//一帧图像包含的所有车道线
 		float dtlc;//自车前轮外侧到车道线内沿横向距离，unit: m
 		float ttlc;//穿行时距，自车前轮外侧到车道线内沿横向距离/自车横向速度，unit: s
+		//我们自己的数据
+		int8_t      left_crossing;//               # left lane span flag, default value is false, when left span successed, the value becomes true
+		int8_t      right_crossing;//               # right lane span flag, default value is false, when right span successed, the value becomes true
+		float		view_start;//                # the view's Start point of current lane
+		float       view_end;//                # the view's end point of current lane
+		int8_t tsr_shape;//# shape of traffic sign, enum type :# UNKNOW = 0 # CIRCLE = 1 # RECTANGLE = 2 # TRIANGLEUP = 3 # TRIANGLEDOWN = 4 # DIAMAND = 5 # PENTAGON = 6 # RESERVED2 = 7 # RESERVED3 = 8
+		float tsr_sign_lat_dis;// # the lateral distance between traffic signand camera in vehicle coordinate system
+		float tsr_sign_long_dis;//# the longitudinal distance between traffic signand camera in vehicle coordinate system
+		int8_t tsr_prob;//# probability
+		int32_t tsr_sign_name;//# to be completed, unique corresponding relationship of traffic sign context is needed
+		int32_t tsr_sup1_sign_name;//# to be completedand tested
 	};
 
 	struct Pose
@@ -173,6 +199,12 @@ namespace JfxLocation
 		Point3D std_linear_velocity;	//# standard deviation of velocity in x,y,z direction, m/s
 		Point3D std_angular_velocity;	//# standard deviation of angular velocity that rotates around x, y, z axle, rad / s
 	};
+	struct Acceleration
+	{
+		Point3D     linear_acceleration;//# linear acceleration, m / s ^ 2, in vehicle frame
+		Point3D     std_linear_acceleration;//# standard deviation of linear acceleration in x, y, z direction, m / s ^ 2
+
+	};
 	struct Bias
 	{
 		Point3D linear_acceleration_bias;        //# linear velocity, m/s, in ENU
@@ -214,6 +246,8 @@ namespace JfxLocation
 		Velocity velocity; 	//# Linear velocity and angular velocity
 							//# linear velocity: in ENU, unit m/s
 							//# angular velocity: in vehicle frame at the time, unit rad/s
+		Acceleration acceleration;//# Linear acceleration. There is no estimation of  angular acceleration.
+								  //# in vehicle frame
 		Attitude attitude; //# Attitude angle
 
 		Bias bias;	//# Zero offset of IMU, in the frame of IMU itself.