update all gps_type.h files

src/decition/decition_external/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/detection/detection_ndt_slam_hcp2/common/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/driver/driver_map_trace/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/driver/driver_map_xodrload/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/driver/driver_radio_collision/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/driver/driver_radio_p900/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/tool/data_serials/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/tool/ivmapmake/common/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/tool/ivmapmake_sharemem/common/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/tool/map_lanetoxodr/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/tool/map_lanetoxodr_graphscene/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/tool/tool_mapcreate/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/tool/tool_xodrobj/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/tool/tracetoxodr/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/ui/ui_ads_hmi/common/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -88,6 +95,9 @@ namespace iv {
         int roadMode = 0;
         int obs_type=0;
 
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
+
 
         Point2D()
        {

src/v2x/v2xTcpClient/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };
 
 
 

src/v2x/v2xTcpClientWL/gps_type.h

@@ -19,6 +19,13 @@ namespace iv {
         double gps_y = 0;
         double gps_z = 0;
 
+        double frenet_s=0;
+        double frenet_s_dot=0;
+        double frenet_s_dot_dot=0;
+        double frenet_d=0;
+        double frenet_d_dot=0;
+        double frenet_d_dot_dot=0;
+
         double ins_roll_angle = 0;	//横滚角 一般定义载体的右、前、上三个方向构成右手系，绕向前的轴旋转就是横滚角，绕向右的轴旋转就是俯仰角，绕向上的轴旋转就是航向角
         double ins_pitch_angle = 0;	//俯仰角
         double ins_heading_angle = 0;	//航向角
@@ -80,24 +87,30 @@ namespace iv {
     };
 
     typedef boost::shared_ptr<iv::GPS_INS> GPSData;
-     class Point2D
-    {
-      public:
-          double x = 0, y = 0, speed=0;
-         int v1 = 0, v2 = 0;
+    class Point2D
+   {
+     public:
+        double x = 0, y = 0, speed=0,obs_speed_x=0,obs_speed_y=0;
+        int v1 = 0, v2 = 0;
+        int roadMode = 0;
+        int obs_type=0;
+
+        double s=0;   //frenet coordinate : s,d;   add at 20220209
+        double d=0;
 
-         Point2D()
-        {
-            x = y = v1 = 0;
-        }
 
-         Point2D(double _x, double _y)
-        {
-            x = _x; y = _y;
-        }
+        Point2D()
+       {
+           x = y = v1 = 0;
+       }
 
+        Point2D(double _x, double _y)
+       {
+           x = _x; y = _y;
+       }
 
-     };
+
+    };