/******************************************************************************    File Name:    map/SubMap.h    Description:  definition of submap containing nearby map data******************************************************************************//******************************************************************************    Author:       alfred.liushu@gmail.com	    Upadate:      2008/09/16  File founded    Copyright 2008-2009 Robot Lab., Dept.of Automation, Tsinghua University******************************************************************************/#ifndef __SUBMAP_H__#define __SUBMAP_H__#include "../include/Coordinate.h"#include "../include/GPS.h"/******************************                   Constants                                 ***************************************************//*Constants for space allocation*/const UINT MaxNodeDegree = 8;                                           /*Maximum degree of nodes*/const UINT NodeSpace = 300;                                             /*Size limit for a submap*/const UINT RoadSpace = 300;                                             /*Size limit for a submap*/const UINT MaxSectionCount = 15;                                        /*Maximum section count in a link*//*Transformation reference, center point GPS*/const GPS GPSCenter = {DATATYPE(168.8487),DATATYPE(1.2795)};            /*Center of map in data080307*//******************************                   Data structures                           ***************************************************//*Node position*/typedef struct{    IDTYPE          id;                                                 /*ID of the node*/    COORD           coord;                                              /*Planar Cartesian coordinates*/}NODE,*NODEPTR;/*Road data*/typedef struct  {    IDTYPE          id;                                                 /*ID of the road*/    NODEPTR         beginPtr;                                           /*Begin node of the road*/    NODEPTR         endPtr;                                             /*End node of the road*/    COORD           midPt;                                              /*Middle point of the road*/    COORD           vecRoad;                                            /*Road direction vector*/    COORD           vecOtho;                                            /*Direction vector a right angle anticlockwise*/    DATATYPE        roadLen;                                            /*Length of th road*/    DATATYPE        roadBear;                                           /*Bearing angle of the road*/    DATATYPE        vecRoadProd;                                        /*Inner product of middle point coordinate and vecRoad*/    DATATYPE        vecOthoProd;                                        /*Inner product of middle point coordinate and vecOtho*/}ROAD,*ROADPTR;/*Link data*/typedef struct LINK{    IDTYPE          id;                                                 /*ID of the link*/    UINT            sectionCount;                                       /*Count of sections in the link*/    ROADPTR         sections[MaxSectionCount];                          /*Road sections of the link in sequence*/    NODEPTR         nodes[MaxSectionCount+1];                           /*Nodes on the link in sequence*/    DATATYPE        linkLen;                                            /*Length of th link*/    DATATYPE        posTurn;                                            /*Maximum positive turning angle*/    DATATYPE        negTurn;                                            /*Maximum negative turning angle*/    DATATYPE        linkAngle;                                          /*Approximate angle of the link*/    RETCHECK PointOnLink(RoadDir dir, DATATYPE dis, COORD& coord, DATATYPE& angle);/*Find a point on the link*/    RETCHECK ProjectToLink(const COORD& coord, DATATYPE& minDisSq,                            DATATYPE& disToBegin, DATATYPE& disToEnd, DATATYPE& bear);/*Calculate projection from a point to the link*/}LINK,*LINKPTR;/*Linkage data*/typedef struct{    UINT            linkCount;                                          /*Count of links*/    LINKPTR         links[MaxNodeDegree];                               /*linked link*/}LINKAGE,*LINKAGEPTR;/******************************                   Submap data                               ***************************************************/typedef struct{    UINT            nodeCount;                                          /*Number of nodes in the submap*/    NODE            nodes[NodeSpace];                                   /*Node data in the submap*/    LINKAGE         linkage[NodeSpace];                                 /*Linkage data of nodes in the submap*/    UINT            roadCount;                                          /*Number of roads in the submap*/    ROAD            roads[RoadSpace];                                   /*Road data in the submap*/    UINT            linkCount;                                          /*Number of links in the submap*/    LINK            links[RoadSpace];                                   /*Link data in the submap*/}SUBMAP;#endif /*__SUBMAP_H__*/