/******************************************************************************    File Name:    common/Integration.h    Description:  definitions of integration structures                  integrate the continuous steps in the same dynamic state,                    categoried as stopping, running and accelerating******************************************************************************//******************************************************************************    Author:       alfred.liushu@gmail.com	    Upadate:      2008/09/17  File founded    Copyright 2008-2009 Robot Lab., Dept.of Automation, Tsinghua University******************************************************************************/#ifndef __INTEGRATION_H__#define __INTEGRATION_H__#include "../include/Setting.h"#include "../include/Coordinate.h"#include "../map/SubMap.h"/******************************                   Data structures                           ***************************************************//*Integration type*/enum DynType{initial,running,stopping,accelerating};                    /*Dynamic type according to vehicle dynamics*//*Integrated period structure*/typedef struct PERIOD{    /*Integration records*/    DynType         type;                                               /*Dynamic type*/    TIME            beginTime;                                          /*The begin time of the integrated period*/    /*Linkage records*/    LINKPTR         link;                                               /*Matched link*/    RoadDir         direction;                                          /*Running direction on the matched link*/    /*Measurement records*/    DATATYPE        turnAngle;                                          /*Angle turned during the period*/    DATATYPE        runDis;                                             /*Distance run during the period*/    inline PERIOD& operator= (const PERIOD& period)    { type = period.type; beginTime = period.beginTime; turnAngle = period.turnAngle; runDis = period.runDis;       link = period.link; direction = period.direction; return *this;}; /*Copy-constructor*/}PERIOD,*PERIODPTR;#endif /*__INTEGRATION_H__*/