From 8b1896dd74ba9a85ac72f5792e26020da6283ae2 Mon Sep 17 00:00:00 2001 From: waiwaylee Date: Mon, 13 Jul 2026 10:20:32 +0800 Subject: [PATCH] =?UTF-8?q?=E6=9B=B4=E6=96=B0=EF=BC=9A1=E3=80=81=E9=80=82?= =?UTF-8?q?=E9=85=8D=E5=9B=9B=E9=9D=A2=E9=98=B5=E6=9C=BA=E6=89=AB=E8=B7=9F?= =?UTF-8?q?=E8=B8=AA=E6=A8=A1=E5=BC=8F=E3=80=82?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Signed-off-by: waiwaylee --- .gitignore | 3 +- build/Makefile | 410 --- build/Makefile.Debug | 2908 ----------------- build/Makefile.Release | 2908 ----------------- build/output/data_process_class_dll.dll | Bin 171520 -> 0 bytes build/output/data_process_class_dll.h | 285 -- build/output/data_process_class_dll.lib | Bin 10610 -> 0 bytes build/output/data_process_class_dll_global.h | 26 - build/output/output.rar | Bin 63107 -> 0 bytes data_process_class_dll/data_process.cpp | 136 +- data_process_class_dll/data_process.h | 7 +- .../data_process_class_dll.h | 9 +- .../eigen-3.3.7/debug/gdb/__init__.py | 1 - .../eigen-3.3.7/debug/gdb/printers.py | 214 -- .../eigen-3.3.7/debug/msvc/eigen.natvis | 235 -- .../debug/msvc/eigen_autoexp_part.dat | 295 -- data_process_class_dll/parameters.h | 8 +- data_process_class_dll/tas_ctrl.cpp | 54 +- data_process_class_dll/tas_ctrl.h | 6 +- data_process_class_dll/track_asso_tas.cpp | 780 ++--- data_process_class_dll/track_die_tas.cpp | 10 +- 21 files changed, 521 insertions(+), 7774 deletions(-) delete mode 100644 build/Makefile delete mode 100644 build/Makefile.Debug delete mode 100644 build/Makefile.Release delete mode 100644 build/output/data_process_class_dll.dll delete mode 100644 build/output/data_process_class_dll.h delete mode 100644 build/output/data_process_class_dll.lib delete mode 100644 build/output/data_process_class_dll_global.h delete mode 100644 build/output/output.rar delete mode 100644 data_process_class_dll/eigen-3.3.7/debug/gdb/__init__.py delete mode 100644 data_process_class_dll/eigen-3.3.7/debug/gdb/printers.py delete mode 100644 data_process_class_dll/eigen-3.3.7/debug/msvc/eigen.natvis delete mode 100644 data_process_class_dll/eigen-3.3.7/debug/msvc/eigen_autoexp_part.dat diff --git a/.gitignore b/.gitignore index 828593f..6964461 100644 --- a/.gitignore +++ b/.gitignore @@ -1,4 +1,5 @@ ##忽略此文件夹## build-data_process_class_dll-Desktop_Qt_5_7_0_MSVC2013_32bit-Release/ debug/ -release/ \ No newline at end of file +release/ +build/ diff --git a/build/Makefile b/build/Makefile deleted file mode 100644 index c27711e..0000000 --- a/build/Makefile +++ /dev/null @@ -1,410 +0,0 @@ -############################################################################# -# Makefile for building: data_process_class_dll -# Generated by qmake (3.0) (Qt 5.7.0) -# Project: ..\data_process_class_dll\data_process_class_dll.pro -# Template: lib -# Command: D:\APP\QT5_7\5.7\msvc2013\bin\qmake.exe -spec win32-msvc2013 -o Makefile 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MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Release distclean -release-install: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Release install -release-uninstall: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Release uninstall -debug: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Debug -debug-make_first: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Debug -debug-all: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Debug all -debug-clean: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Debug clean -debug-distclean: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Debug distclean -debug-install: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Debug install -debug-uninstall: FORCE - @set MAKEFLAGS=$(MAKEFLAGS) - $(MAKE) -f $(MAKEFILE).Debug uninstall - -Makefile: ..\data_process_class_dll\data_process_class_dll.pro D:\APP\QT5_7\5.7\msvc2013\mkspecs\win32-msvc2013\qmake.conf 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first -FORCE: - -$(MAKEFILE).Release: Makefile -$(MAKEFILE).Debug: Makefile diff --git a/build/Makefile.Debug b/build/Makefile.Debug deleted file mode 100644 index 5867119..0000000 --- a/build/Makefile.Debug +++ /dev/null @@ -1,2908 +0,0 @@ -############################################################################# -# Makefile for building: data_process_class_dll -# Generated by qmake (3.0) (Qt 5.7.0) -# Project: ..\data_process_class_dll\data_process_class_dll.pro -# Template: lib -############################################################################# - -MAKEFILE = Makefile.Debug - -####### Compiler, tools and options - -CC = cl -CXX = cl -DEFINES = -DUNICODE -DWIN32 -DDATA_PROCESS_CLASS_DLL_LIBRARY -DQT_CORE_LIB -CFLAGS = -nologo -Zc:wchar_t -FS -Zi -MDd -W3 /Fddebug\data_process_class_dll.pdb $(DEFINES) -CXXFLAGS = -nologo -Zc:wchar_t -FS -Zi -MDd -GR -W3 -w34100 -w34189 -w44996 -EHsc /Fddebug\data_process_class_dll.pdb $(DEFINES) -INCPATH = -I..\data_process_class_dll -I. 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..\data_process_class_dll\coor_trans.cpp \ - ..\data_process_class_dll\track_asso.cpp \ - ..\data_process_class_dll\track_init.cpp \ - ..\data_process_class_dll\track_index_mangement.cpp \ - ..\data_process_class_dll\tas_ctrl.cpp \ - ..\data_process_class_dll\track_die.cpp \ - ..\data_process_class_dll\dot_coh_tas.cpp \ - ..\data_process_class_dll\track_asso_tas.cpp \ - ..\data_process_class_dll\track_init_direct_tracking.cpp \ - ..\data_process_class_dll\track_die_tas.cpp -OBJECTS = debug\data_process_class_dll.obj \ - debug\data_process.obj \ - debug\dot_coh.obj \ - debug\kalman.obj \ - debug\coor_trans.obj \ - debug\track_asso.obj \ - debug\track_init.obj \ - debug\track_index_mangement.obj \ - debug\tas_ctrl.obj \ - debug\track_die.obj \ - debug\dot_coh_tas.obj \ - debug\track_asso_tas.obj \ - debug\track_init_direct_tracking.obj \ - debug\track_die_tas.obj - -DIST = ..\data_process_class_dll\data_process_class_dll.h \ - ..\data_process_class_dll\data_process_class_dll_global.h \ - ..\data_process_class_dll\data_process.h \ - ..\data_process_class_dll\struct.h \ - ..\data_process_class_dll\parameters.h \ - ..\data_process_class_dll\dot_coh.h \ - ..\data_process_class_dll\kalman.h \ - ..\data_process_class_dll\coor_trans.h \ - ..\data_process_class_dll\track_asso.h \ - ..\data_process_class_dll\track_init.h \ - ..\data_process_class_dll\track_index_mangement.h \ - ..\data_process_class_dll\tas_ctrl.h \ - ..\data_process_class_dll\track_die.h \ - ..\data_process_class_dll\dot_coh_tas.h \ - ..\data_process_class_dll\track_asso_tas.h \ - ..\data_process_class_dll\track_init_direct_tracking.h \ - ..\data_process_class_dll\track_die_tas.h ..\data_process_class_dll\data_process_class_dll.cpp \ - ..\data_process_class_dll\data_process.cpp \ - ..\data_process_class_dll\dot_coh.cpp \ - ..\data_process_class_dll\kalman.cpp \ - ..\data_process_class_dll\coor_trans.cpp \ - ..\data_process_class_dll\track_asso.cpp \ - ..\data_process_class_dll\track_init.cpp \ - 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D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\exclusive_builds_post.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\default_post.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\build_pass.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\rtti.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\precompile_header.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\warn_on.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\qt.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\resources.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\moc.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\file_copies.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\windows.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\testcase_targets.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\exceptions.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\yacc.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\lex.prf ..\data_process_class_dll\data_process_class_dll.pro D:\APP\QT5_7\5.7\msvc2013\lib\Qt5Cored.prl NO_PCH_SOURCES RESOURCES HEADERS SOURCES OBJECTIVE_SOURCES YACCSOURCES YACCSOURCES LEXSOURCES - -clean: compiler_clean - -$(DEL_FILE) debug\data_process_class_dll.obj debug\data_process.obj debug\dot_coh.obj debug\kalman.obj debug\coor_trans.obj debug\track_asso.obj debug\track_init.obj debug\track_index_mangement.obj debug\tas_ctrl.obj debug\track_die.obj debug\dot_coh_tas.obj debug\track_asso_tas.obj debug\track_init_direct_tracking.obj debug\track_die_tas.obj - -$(DEL_FILE) debug\data_process_class_dll.exp debug\data_process_class_dll.ilk debug\data_process_class_dll.idb - -distclean: clean - -$(DEL_FILE) debug\data_process_class_dll.lib debug\data_process_class_dll.pdb - -$(DEL_FILE) $(DESTDIR_TARGET) - -$(DEL_FILE) Makefile.Debug - -mocclean: compiler_moc_header_clean compiler_moc_source_clean - -mocables: compiler_moc_header_make_all compiler_moc_source_make_all - -check: first - -benchmark: first - -compiler_no_pch_compiler_make_all: -compiler_no_pch_compiler_clean: -compiler_rcc_make_all: -compiler_rcc_clean: -compiler_moc_header_make_all: -compiler_moc_header_clean: -compiler_moc_source_make_all: -compiler_moc_source_clean: -compiler_yacc_decl_make_all: -compiler_yacc_decl_clean: -compiler_yacc_impl_make_all: -compiler_yacc_impl_clean: -compiler_lex_make_all: -compiler_lex_clean: -compiler_clean: - - - -####### Compile - -debug\data_process_class_dll.obj: ..\data_process_class_dll\data_process_class_dll.cpp ../data_process_class_dll/data_process_class_dll.h \ - ../data_process_class_dll/data_process_class_dll_global.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qglobal.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qconfig.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qfeatures.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qsystemdetection.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qprocessordetection.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qcompilerdetection.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qtypeinfo.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qtypetraits.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qisenum.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qsysinfo.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qlogging.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qflags.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qatomic.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qbasicatomic.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qatomic_bootstrap.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qgenericatomic.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qatomic_cxx11.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qatomic_msvc.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qglobalstatic.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qmutex.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qnumeric.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qversiontagging.h \ - ../data_process_class_dll/data_process.h \ - ../data_process_class_dll/parameters.h \ - ../data_process_class_dll/struct.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\QVector \ 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D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qpoint.h \ - ../data_process_class_dll/dot_coh.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\QDebug \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qdebug.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qhash.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qmap.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qtextstream.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qiodevice.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qobject.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qobjectdefs.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qobjectdefs_impl.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qcoreevent.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qscopedpointer.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qmetatype.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qvarlengtharray.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qcontainerfwd.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qobject_impl.h \ - 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D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\default_pre.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\default_pre.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\resolve_config.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\exclusive_builds_post.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\default_post.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\build_pass.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\rtti.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\precompile_header.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\warn_on.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\qt.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\resources.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\moc.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\file_copies.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\win32\windows.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\testcase_targets.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\exceptions.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\yacc.prf D:\APP\QT5_7\5.7\msvc2013\mkspecs\features\lex.prf ..\data_process_class_dll\data_process_class_dll.pro D:\APP\QT5_7\5.7\msvc2013\lib\Qt5Core.prl NO_PCH_SOURCES RESOURCES HEADERS SOURCES OBJECTIVE_SOURCES YACCSOURCES YACCSOURCES LEXSOURCES - -clean: compiler_clean - -$(DEL_FILE) release\data_process_class_dll.obj release\data_process.obj release\dot_coh.obj release\kalman.obj release\coor_trans.obj release\track_asso.obj release\track_init.obj release\track_index_mangement.obj release\tas_ctrl.obj release\track_die.obj release\dot_coh_tas.obj release\track_asso_tas.obj release\track_init_direct_tracking.obj release\track_die_tas.obj - -$(DEL_FILE) release\data_process_class_dll.exp - -distclean: clean - -$(DEL_FILE) release\data_process_class_dll.lib - -$(DEL_FILE) $(DESTDIR_TARGET) - -$(DEL_FILE) Makefile.Release - -mocclean: compiler_moc_header_clean compiler_moc_source_clean - -mocables: compiler_moc_header_make_all compiler_moc_source_make_all - -check: first - -benchmark: first - -compiler_no_pch_compiler_make_all: -compiler_no_pch_compiler_clean: -compiler_rcc_make_all: -compiler_rcc_clean: -compiler_moc_header_make_all: -compiler_moc_header_clean: -compiler_moc_source_make_all: -compiler_moc_source_clean: -compiler_yacc_decl_make_all: -compiler_yacc_decl_clean: -compiler_yacc_impl_make_all: -compiler_yacc_impl_clean: -compiler_lex_make_all: -compiler_lex_clean: -compiler_clean: - - - -####### Compile - -release\data_process_class_dll.obj: ..\data_process_class_dll\data_process_class_dll.cpp ../data_process_class_dll/data_process_class_dll.h \ - ../data_process_class_dll/data_process_class_dll_global.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qglobal.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qconfig.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qfeatures.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qsystemdetection.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qprocessordetection.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qcompilerdetection.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qtypeinfo.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qtypetraits.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qisenum.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qsysinfo.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qlogging.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qflags.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qatomic.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qbasicatomic.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qatomic_bootstrap.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qgenericatomic.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qatomic_cxx11.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qatomic_msvc.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qglobalstatic.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qmutex.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qnumeric.h \ - D:\APP\QT5_7\5.7\msvc2013\include\QtCore\qversiontagging.h 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If a copy of the MPL was not distributed with this -# file, You can obtain one at http://mozilla.org/MPL/2.0/. - -# Pretty printers for Eigen::Matrix -# This is still pretty basic as the python extension to gdb is still pretty basic. -# It cannot handle complex eigen types and it doesn't support any of the other eigen types -# Such as quaternion or some other type. -# This code supports fixed size as well as dynamic size matrices - -# To use it: -# -# * Create a directory and put the file as well as an empty __init__.py in -# that directory. -# * Create a ~/.gdbinit file, that contains the following: -# python -# import sys -# sys.path.insert(0, '/path/to/eigen/printer/directory') -# from printers import register_eigen_printers -# register_eigen_printers (None) -# end - -import gdb -import re -import itertools - - -class EigenMatrixPrinter: - "Print Eigen Matrix or Array of some kind" - - def __init__(self, variety, val): - "Extract all the necessary information" - - # Save the variety (presumably "Matrix" or "Array") for later usage - self.variety = variety - - # The gdb extension does not support value template arguments - need to extract them by hand - type = val.type - if type.code == gdb.TYPE_CODE_REF: - type = type.target() - self.type = type.unqualified().strip_typedefs() - tag = self.type.tag - regex = re.compile('\<.*\>') - m = regex.findall(tag)[0][1:-1] - template_params = m.split(',') - template_params = [x.replace(" ", "") for x in template_params] - - if template_params[1] == '-0x00000000000000001' or template_params[1] == '-0x000000001' or template_params[1] == '-1': - self.rows = val['m_storage']['m_rows'] - else: - self.rows = int(template_params[1]) - - if template_params[2] == '-0x00000000000000001' or template_params[2] == '-0x000000001' or template_params[2] == '-1': - self.cols = val['m_storage']['m_cols'] - else: - self.cols = int(template_params[2]) - - self.options = 0 # default value - if len(template_params) > 3: - self.options = template_params[3]; - - self.rowMajor = (int(self.options) & 0x1) - - self.innerType = self.type.template_argument(0) - - self.val = val - - # Fixed size matrices have a struct as their storage, so we need to walk through this - self.data = self.val['m_storage']['m_data'] - if self.data.type.code == gdb.TYPE_CODE_STRUCT: - self.data = self.data['array'] - self.data = self.data.cast(self.innerType.pointer()) - - class _iterator: - def __init__ (self, rows, cols, dataPtr, rowMajor): - self.rows = rows - self.cols = cols - self.dataPtr = dataPtr - self.currentRow = 0 - self.currentCol = 0 - self.rowMajor = rowMajor - - def __iter__ (self): - return self - - def next(self): - return self.__next__() # Python 2.x compatibility - - def __next__(self): - - row = self.currentRow - col = self.currentCol - if self.rowMajor == 0: - if self.currentCol >= self.cols: - raise StopIteration - - self.currentRow = self.currentRow + 1 - if self.currentRow >= self.rows: - self.currentRow = 0 - self.currentCol = self.currentCol + 1 - else: - if self.currentRow >= self.rows: - raise StopIteration - - self.currentCol = self.currentCol + 1 - if self.currentCol >= self.cols: - self.currentCol = 0 - self.currentRow = self.currentRow + 1 - - - item = self.dataPtr.dereference() - self.dataPtr = self.dataPtr + 1 - if (self.cols == 1): #if it's a column vector - return ('[%d]' % (row,), item) - elif (self.rows == 1): #if it's a row vector - return ('[%d]' % (col,), item) - return ('[%d,%d]' % (row, col), item) - - def children(self): - - return self._iterator(self.rows, self.cols, self.data, self.rowMajor) - - def to_string(self): - return "Eigen::%s<%s,%d,%d,%s> (data ptr: %s)" % (self.variety, self.innerType, self.rows, self.cols, "RowMajor" if self.rowMajor else "ColMajor", self.data) - -class EigenQuaternionPrinter: - "Print an Eigen Quaternion" - - def __init__(self, val): - "Extract all the necessary information" - # The gdb extension does not support value template arguments - need to extract them by hand - type = val.type - if type.code == gdb.TYPE_CODE_REF: - type = type.target() - self.type = type.unqualified().strip_typedefs() - self.innerType = self.type.template_argument(0) - self.val = val - - # Quaternions have a struct as their storage, so we need to walk through this - self.data = self.val['m_coeffs']['m_storage']['m_data']['array'] - self.data = self.data.cast(self.innerType.pointer()) - - class _iterator: - def __init__ (self, dataPtr): - self.dataPtr = dataPtr - self.currentElement = 0 - self.elementNames = ['x', 'y', 'z', 'w'] - - def __iter__ (self): - return self - - def next(self): - return self.__next__() # Python 2.x compatibility - - def __next__(self): - element = self.currentElement - - if self.currentElement >= 4: #there are 4 elements in a quanternion - raise StopIteration - - self.currentElement = self.currentElement + 1 - - item = self.dataPtr.dereference() - self.dataPtr = self.dataPtr + 1 - return ('[%s]' % (self.elementNames[element],), item) - - def children(self): - - return self._iterator(self.data) - - def to_string(self): - return "Eigen::Quaternion<%s> (data ptr: %s)" % (self.innerType, self.data) - -def build_eigen_dictionary (): - pretty_printers_dict[re.compile('^Eigen::Quaternion<.*>$')] = lambda val: EigenQuaternionPrinter(val) - pretty_printers_dict[re.compile('^Eigen::Matrix<.*>$')] = lambda val: EigenMatrixPrinter("Matrix", val) - pretty_printers_dict[re.compile('^Eigen::Array<.*>$')] = lambda val: EigenMatrixPrinter("Array", val) - -def register_eigen_printers(obj): - "Register eigen pretty-printers with objfile Obj" - - if obj == None: - obj = gdb - obj.pretty_printers.append(lookup_function) - -def lookup_function(val): - "Look-up and return a pretty-printer that can print va." - - type = val.type - - if type.code == gdb.TYPE_CODE_REF: - type = type.target() - - type = type.unqualified().strip_typedefs() - - typename = type.tag - if typename == None: - return None - - for function in pretty_printers_dict: - if function.search(typename): - return pretty_printers_dict[function](val) - - return None - -pretty_printers_dict = {} - -build_eigen_dictionary () diff --git a/data_process_class_dll/eigen-3.3.7/debug/msvc/eigen.natvis b/data_process_class_dll/eigen-3.3.7/debug/msvc/eigen.natvis deleted file mode 100644 index 22cf346..0000000 --- a/data_process_class_dll/eigen-3.3.7/debug/msvc/eigen.natvis +++ /dev/null @@ -1,235 +0,0 @@ - - - - - - - - [{$T2}, {$T3}] (fixed matrix) - - - 2 - $i==0 ? $T2 : $T3 - m_storage.m_data.array - - - Backward - 2 - $i==0 ? $T2 : $T3 - m_storage.m_data.array - - - - - - - - [2, 2] (fixed matrix) - - - ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}) - - - ({m_storage.m_data.array[0]}, {m_storage.m_data.array[2]}) - - - ({m_storage.m_data.array[2]}, {m_storage.m_data.array[3]}) - - - ({m_storage.m_data.array[1]}, {m_storage.m_data.array[3]}) - - - - - - - - [3, 3] (fixed matrix) - - - ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}) - - - ({m_storage.m_data.array[0]}, {m_storage.m_data.array[3]}, {m_storage.m_data.array[6]}) - - - ({m_storage.m_data.array[3]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[5]}) - - - ({m_storage.m_data.array[1]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[7]}) - - - ({m_storage.m_data.array[6]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[8]}) - - - ({m_storage.m_data.array[2]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[8]}) - - - - - - - - [4, 4] (fixed matrix) - - - ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]}) - - - ({m_storage.m_data.array[0]}, {m_storage.m_data.array[4]}, {m_storage.m_data.array[8]}, {m_storage.m_data.array[12]}) - - - ({m_storage.m_data.array[4]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[7]}) - - - ({m_storage.m_data.array[1]}, {m_storage.m_data.array[5]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[13]}) - - - ({m_storage.m_data.array[8]}, {m_storage.m_data.array[9]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[11]}) - - - ({m_storage.m_data.array[2]}, {m_storage.m_data.array[6]}, {m_storage.m_data.array[10]}, {m_storage.m_data.array[14]}) - - - ({m_storage.m_data.array[12]}, {m_storage.m_data.array[13]}, {m_storage.m_data.array[14]}, {m_storage.m_data.array[15]}) - - - ({m_storage.m_data.array[3]}, {m_storage.m_data.array[7]}, {m_storage.m_data.array[11]}, {m_storage.m_data.array[15]}) - - - - - - - - empty - [{m_storage.m_rows}, {m_storage.m_cols}] (dynamic matrix) - - - 2 - $i==0 ? m_storage.m_rows : m_storage.m_cols - m_storage.m_data - - - Backward - 2 - $i==0 ? m_storage.m_rows : m_storage.m_cols - m_storage.m_data - - - - - - - - empty - [{$T2}, {m_storage.m_cols}] (dynamic column matrix) - - - 2 - $i==0 ? $T2 : m_storage.m_cols - m_storage.m_data - - - Backward - 2 - $i==0 ? $T2 : m_storage.m_cols - m_storage.m_data - - - - - - - - empty - [{m_storage.m_rows}, {$T2}] (dynamic row matrix) - - - 2 - $i==0 ? m_storage.m_rows : $T2 - m_storage.m_data - - - Backward - 2 - $i==0 ? m_storage.m_rows : $T2 - m_storage.m_data - - - - - - - - empty - [{m_storage.m_cols}] (dynamic column vector) - - m_storage.m_cols - - m_storage.m_cols - m_storage.m_data - - - - - - - - empty - [{m_storage.m_rows}] (dynamic row vector) - - m_storage.m_rows - - m_storage.m_rows - m_storage.m_data - - - - - - - - [1] ({m_storage.m_data.array[0]}) - - m_storage.m_data.array[0] - - - - - - - - [2] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}) - - m_storage.m_data.array[0] - m_storage.m_data.array[1] - - - - - - - - [3] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}) - - m_storage.m_data.array[0] - m_storage.m_data.array[1] - m_storage.m_data.array[2] - - - - - - - - [4] ({m_storage.m_data.array[0]}, {m_storage.m_data.array[1]}, {m_storage.m_data.array[2]}, {m_storage.m_data.array[3]}) - - m_storage.m_data.array[0] - m_storage.m_data.array[1] - m_storage.m_data.array[2] - m_storage.m_data.array[3] - - - - diff --git a/data_process_class_dll/eigen-3.3.7/debug/msvc/eigen_autoexp_part.dat b/data_process_class_dll/eigen-3.3.7/debug/msvc/eigen_autoexp_part.dat deleted file mode 100644 index ba7eefc..0000000 --- a/data_process_class_dll/eigen-3.3.7/debug/msvc/eigen_autoexp_part.dat +++ /dev/null @@ -1,295 +0,0 @@ -; *************************************************************** -; * Eigen Visualizer -; * -; * Author: Hauke Heibel -; * -; * Support the enhanced debugging of the following Eigen -; * types (*: any, +:fixed dimension) : -; * -; * - Eigen::Matrix<*,4,1,*,*,*> and Eigen::Matrix<*,1,4,*,*,*> -; * - Eigen::Matrix<*,3,1,*,*,*> and Eigen::Matrix<*,1,3,*,*,*> -; * - Eigen::Matrix<*,2,1,*,*,*> and Eigen::Matrix<*,1,2,*,*,*> -; * - Eigen::Matrix<*,-1,-1,*,*,*> -; * - Eigen::Matrix<*,+,-1,*,*,*> -; * - Eigen::Matrix<*,-1,+,*,*,*> -; * - Eigen::Matrix<*,+,+,*,*,*> -; * -; * Matrices are displayed properly independantly of the memory -; * alignment (RowMajor vs. ColMajor). -; * -; * This file is distributed WITHOUT ANY WARRANTY. Please ensure -; * that your original autoexp.dat file is copied to a safe -; * place before proceeding with its modification. -; *************************************************************** - -[Visualizer] - -; Fixed size 4-vectors -Eigen::Matrix<*,4,1,*,*,*>|Eigen::Matrix<*,1,4,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - x : ($c.m_storage.m_data.array)[0], - y : ($c.m_storage.m_data.array)[1], - z : ($c.m_storage.m_data.array)[2], - w : ($c.m_storage.m_data.array)[3] - ) - ) - - preview - ( - #( - "[", - 4, - "](", - #array(expr: $e.m_storage.m_data.array[$i], size: 4), - ")" - ) - ) -} - -; Fixed size 3-vectors -Eigen::Matrix<*,3,1,*,*,*>|Eigen::Matrix<*,1,3,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - x : ($c.m_storage.m_data.array)[0], - y : ($c.m_storage.m_data.array)[1], - z : ($c.m_storage.m_data.array)[2] - ) - ) - - preview - ( - #( - "[", - 3, - "](", - #array(expr: $e.m_storage.m_data.array[$i], size: 3), - ")" - ) - ) -} - -; Fixed size 2-vectors -Eigen::Matrix<*,2,1,*,*,*>|Eigen::Matrix<*,1,2,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - x : ($c.m_storage.m_data.array)[0], - y : ($c.m_storage.m_data.array)[1] - ) - ) - - preview - ( - #( - "[", - 2, - "](", - #array(expr: $e.m_storage.m_data.array[$i], size: 2), - ")" - ) - ) -} - -; Fixed size 1-vectors -Eigen::Matrix<*,1,1,*,*,*>|Eigen::Matrix<*,1,1,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - x : ($c.m_storage.m_data.array)[0] - ) - ) - - preview - ( - #( - "[", - 1, - "](", - #array(expr: $e.m_storage.m_data.array[$i], size: 1), - ")" - ) - ) -} - -; Dynamic matrices (ColMajor and RowMajor support) -Eigen::Matrix<*,-1,-1,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - rows: $c.m_storage.m_rows, - cols: $c.m_storage.m_cols, - ; Check for RowMajorBit - #if ($c.Flags & 0x1) ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.m_storage.m_cols + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], - size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols - ) - ) #else ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[$i], - size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.m_storage.m_cols - ) - ) - ) - ) - - preview - ( - #( - "[", - $c.m_storage.m_rows, - ",", - $c.m_storage.m_cols, - "](", - #array( - expr : [($c.m_storage.m_data)[$i],g], - size : $c.m_storage.m_rows*$c.m_storage.m_cols - ), - ")" - ) - ) -} - -; Fixed rows, dynamic columns matrix (ColMajor and RowMajor support) -Eigen::Matrix<*,*,-1,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - rows: $c.RowsAtCompileTime, - cols: $c.m_storage.m_cols, - ; Check for RowMajorBit - #if ($c.Flags & 0x1) ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[($i % $c.RowsAtCompileTime)*$c.m_storage.m_cols + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)], - size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols - ) - ) #else ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[$i], - size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.m_storage.m_cols - ) - ) - ) - ) - - preview - ( - #( - "[", - $c.RowsAtCompileTime, - ",", - $c.m_storage.m_cols, - "](", - #array( - expr : [($c.m_storage.m_data)[$i],g], - size : $c.RowsAtCompileTime*$c.m_storage.m_cols - ), - ")" - ) - ) -} - -; Dynamic rows, fixed columns matrix (ColMajor and RowMajor support) -Eigen::Matrix<*,-1,*,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - rows: $c.m_storage.m_rows, - cols: $c.ColsAtCompileTime, - ; Check for RowMajorBit - #if ($c.Flags & 0x1) ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[($i % $c.m_storage.m_rows)*$c.ColsAtCompileTime + (($i- $i % $c.m_storage.m_rows)/$c.m_storage.m_rows)], - size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime - ) - ) #else ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data)[$i], - size: ($r==1)*$c.m_storage.m_rows+($r==0)*$c.ColsAtCompileTime - ) - ) - ) - ) - - preview - ( - #( - "[", - $c.m_storage.m_rows, - ",", - $c.ColsAtCompileTime, - "](", - #array( - expr : [($c.m_storage.m_data)[$i],g], - size : $c.m_storage.m_rows*$c.ColsAtCompileTime - ), - ")" - ) - ) -} - -; Fixed size matrix (ColMajor and RowMajor support) -Eigen::Matrix<*,*,*,*,*,*>{ - children - ( - #( - [internals]: [$c,!], - rows: $c.RowsAtCompileTime, - cols: $c.ColsAtCompileTime, - ; Check for RowMajorBit - #if ($c.Flags & 0x1) ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data.array)[($i % $c.RowsAtCompileTime)*$c.ColsAtCompileTime + (($i- $i % $c.RowsAtCompileTime)/$c.RowsAtCompileTime)], - size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime - ) - ) #else ( - #array( - rank: 2, - base: 0, - expr: ($c.m_storage.m_data.array)[$i], - size: ($r==1)*$c.RowsAtCompileTime+($r==0)*$c.ColsAtCompileTime - ) - ) - ) - ) - - preview - ( - #( - "[", - $c.RowsAtCompileTime, - ",", - $c.ColsAtCompileTime, - "](", - #array( - expr : [($c.m_storage.m_data.array)[$i],g], - size : $c.RowsAtCompileTime*$c.ColsAtCompileTime - ), - ")" - ) - ) -} diff --git a/data_process_class_dll/parameters.h b/data_process_class_dll/parameters.h index 1986b30..788f94a 100644 --- a/data_process_class_dll/parameters.h +++ b/data_process_class_dll/parameters.h @@ -70,7 +70,8 @@ //#define DATA_RATE_MIDDLE 1 //#define DATA_RATE_FAR 1 -#define DATA_RATE_TAS 0.33 +//#define DATA_RATE_TAS 0.046875 +#define DATA_RATE_TAS 0.0625 #define SIGMA_R 10.0 //测量误差 #define SIGMA_A 0.02 @@ -101,7 +102,7 @@ #define ALPHA_START 60 //起航夹角 120 越大越容易起批 #define TRACK_DIE_ROUND 4 // 航迹消亡时间 -#define TRACK_DIE_ROUND_TAS 5 +#define TRACK_DIE_ROUND_TAS 96 // #define ASSO_THORD 3 @@ -111,7 +112,8 @@ #define TAS_QUEUE_LENGTH 1 //Tas调用的cpi数 #define MAX_TAS_NUM 1 -#define T_TAS_PRED 0.33 +//#define T_TAS_PRED 0.046875 +#define T_TAS_PRED DATA_RATE_TAS #define UNCONF_TARGET 0 diff --git a/data_process_class_dll/tas_ctrl.cpp b/data_process_class_dll/tas_ctrl.cpp index 1cbddc0..e86b79a 100644 --- a/data_process_class_dll/tas_ctrl.cpp +++ b/data_process_class_dll/tas_ctrl.cpp @@ -3,6 +3,7 @@ #include #include"memory.h" #include +#include using namespace std; @@ -22,20 +23,21 @@ void TAS_Ctrl::tas_ctrl_process(QVector *trust_track, struct TrackingBeam *Tracking_beam, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output, - struct RadarPara Work_Parameter) + struct RadarPara Work_Parameter, + int latest_timestamp) { tas_target_add(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter); tas_target_del(trust_track, Trust_Track_Output, Trust_track_num_Output,Work_Parameter); - tas_beam_output(trust_track,Tracking_beam); + tas_beam_output(trust_track,Tracking_beam,latest_timestamp); - //跟踪队列移位 - struct Tracking_Target tas_target_tmp; - memcpy(&tas_target_tmp, &tas_target_queue[TAS_QUEUE_LENGTH-1], sizeof(Tracking_Target)); - for (int i=TAS_QUEUE_LENGTH-1;i>0;i--) - { - memcpy(&tas_target_queue[i],&tas_target_queue[i-1],sizeof(Tracking_Target)); - } - memcpy(&tas_target_queue[0], &tas_target_tmp, sizeof(Tracking_Target)); +// //跟踪队列移位 +// struct Tracking_Target tas_target_tmp; +// memcpy(&tas_target_tmp, &tas_target_queue[TAS_QUEUE_LENGTH-1], sizeof(Tracking_Target)); +// for (int i=TAS_QUEUE_LENGTH-1;i>0;i--) +// { +// memcpy(&tas_target_queue[i],&tas_target_queue[i-1],sizeof(Tracking_Target)); +// } +// memcpy(&tas_target_queue[0], &tas_target_tmp, sizeof(Tracking_Target)); @@ -66,7 +68,7 @@ void TAS_Ctrl::tas_target_add(QVector *trust_track, { for(int j=0;j *trust_track, { //查找TAS队列里的目标是否存在 int flag=0; - for (int j=0;jsize();j++) + for (int j=0;jsize();j++){ { - if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1) + if(tas_target_queue[i].Index==(*trust_track)[j].Track_Index && (*trust_track)[j].Track_Mode == 1 && (*trust_track)[j].manual_tracking_flag == 1) { flag=1; } } + } //目标不存在 说明已消批 从队列里删除 if(flag == 0) { @@ -249,47 +252,50 @@ void TAS_Ctrl::tas_target_del(QVector *trust_track, void TAS_Ctrl::tas_beam_output(QVector *trust_track, - struct TrackingBeam *Tracking_beam) + struct TrackingBeam *Tracking_beam, + int latest_timestamp) { if(tas_target_queue[0].empty_flag==1) { double H_track; double X_now[6]; + int CPI_time = 0; for (int i=0;isize();i++ ) { if((*trust_track)[i].Track_Index == tas_target_queue[0].Index) { H_track = (*trust_track)[i].Height; + CPI_time = (*trust_track)[i].T_track; for(int ii=0;ii<6;ii++) X_now[ii]=(*trust_track)[i].X[ii]; } } + float delta_T = (latest_timestamp - CPI_time) / 1000.0f; //预测目标位置 计算跟踪波束波位号 俯仰角 - - double x_track=X_now[0]+X_now[1]*T_TAS_PRED; - double y_track=X_now[3]+X_now[4]*T_TAS_PRED; + double x_track=X_now[0]+X_now[1]*delta_T; + double y_track=X_now[3]+X_now[4]*delta_T; double amzi,range; coor_trans Coor_trans; Coor_trans.cart2polar(x_track,y_track,&range,&amzi); - //目标距离 Tracking_beam->Range=range; //目标方位 Tracking_beam->Azi=amzi/PI*180; +// Tracking_beam->Azi+=6; //目标俯仰角 double elev=asin(H_track/range)/PI*180; - if(elev<=0) - elev=0; - else if(elev>=40) - elev=40; - else - elev=elev; +// if(elev<=0) +// elev=0; +// else if(elev>=40) +// elev=40; +// else +// elev=elev; Tracking_beam->Elev=elev; diff --git a/data_process_class_dll/tas_ctrl.h b/data_process_class_dll/tas_ctrl.h index 497b1ae..be58cc0 100644 --- a/data_process_class_dll/tas_ctrl.h +++ b/data_process_class_dll/tas_ctrl.h @@ -18,7 +18,8 @@ public: struct TrackingBeam *Tracking_beam, struct Track Trust_Track_Output[][10], int *Trust_track_num_Output, - struct RadarPara Work_Parameter); + struct RadarPara Work_Parameter, + int latest_timestamp); private: @@ -37,7 +38,8 @@ private: //TAS队列信息输出 void tas_beam_output(QVector *trust_track, - struct TrackingBeam *Tracking_beam); + struct TrackingBeam *Tracking_beam, + int latest_timestamp); //TAS 自动开启条件 int tas_auto_start(double v, double r, double h, struct RadarPara Work_Parameter); diff --git a/data_process_class_dll/track_asso_tas.cpp b/data_process_class_dll/track_asso_tas.cpp index 9589dc8..22115cc 100644 --- a/data_process_class_dll/track_asso_tas.cpp +++ b/data_process_class_dll/track_asso_tas.cpp @@ -10,12 +10,12 @@ using namespace std; int Track_Asso_Tas::track_asso_process_tas(QVector *point_recv_tas, //点迹文件 - QVector *trust_track, //航迹文件 - struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息 - int *Trust_track_num_Output, //更新航迹数 - struct RadarPara Work_Parameter, //工作参数 - int tas_track_idx - ) + QVector *trust_track, //航迹文件 + struct Track Trust_Track_Output[MAX_TRACK_NUM][10], //更新航迹信息 +int *Trust_track_num_Output, //更新航迹数 +struct RadarPara Work_Parameter, //工作参数 +int tas_track_idx +) { @@ -39,53 +39,53 @@ int Track_Asso_Tas::track_asso_process_tas(QVector *poi //输出航迹 for (int i=0;isize();i++) { // 输出更新航迹条件： - if((*trust_track)[i].Track_Index == tas_track_idx) - { - *Trust_track_num_Output= *Trust_track_num_Output+1; + if((*trust_track)[i].Track_Index == tas_track_idx) + { + *Trust_track_num_Output= *Trust_track_num_Output+1; - Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1; - double x,y; - x=(*trust_track)[i].X[0]+(*trust_track)[i].X[1]*Work_Parameter.Sys_delay; - y=(*trust_track)[i].X[3]+(*trust_track)[i].X[4]*Work_Parameter.Sys_delay; - coor_trans Coor_trans; - double r, azi; - Coor_trans.cart2polar(x, y, &r, &azi); - Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r; - Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azi/PI*180; - Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = asin((*trust_track)[i].Height/r)/PI*180; - Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; - Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V = - sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]); - Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = (*trust_track)[i].Amplitude; - Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode; - Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=(*trust_track)[i].T_track/1000.0; - Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i].point_flag; - Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height; + Trust_Track_Output[*Trust_track_num_Output-1][0].Point_Sum=1; + double x,y; + x=(*trust_track)[i].X[0]+(*trust_track)[i].X[1]*Work_Parameter.Sys_delay; + y=(*trust_track)[i].X[3]+(*trust_track)[i].X[4]*Work_Parameter.Sys_delay; + coor_trans Coor_trans; + double r, azi; + Coor_trans.cart2polar(x, y, &r, &azi); + Trust_Track_Output[*Trust_track_num_Output-1][0].Range=r; + Trust_Track_Output[*Trust_track_num_Output-1][0].Azimuth=azi/PI*180; + Trust_Track_Output[*Trust_track_num_Output-1][0].Elevation = asin((*trust_track)[i].Height/r)/PI*180; + Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Index=(*trust_track)[i].Track_Index; + Trust_Track_Output[*Trust_track_num_Output-1][0].Range_V = + sqrt((*trust_track)[i].X[1]*(*trust_track)[i].X[1]+(*trust_track)[i].X[4]*(*trust_track)[i].X[4]); + Trust_Track_Output[*Trust_track_num_Output-1][0].Amplitude = (*trust_track)[i].Amplitude; + Trust_Track_Output[*Trust_track_num_Output-1][0].Track_Mode=(*trust_track)[i].Track_Mode; + Trust_Track_Output[*Trust_track_num_Output-1][0].track_time=(*trust_track)[i].T_track/1000.0; + Trust_Track_Output[*Trust_track_num_Output-1][0].Flag_Point = (*trust_track)[i].point_flag; + Trust_Track_Output[*Trust_track_num_Output-1][0].z=(*trust_track)[i].Height+Work_Parameter.Height; - double Direction_Angle; - Direction_Angle=atan((*trust_track)[i].X[4]/(*trust_track)[i].X[1]); - if((*trust_track)[i].X[1]<0){Direction_Angle=Direction_Angle+PI;} - if((*trust_track)[i].X[1]>0&&(*trust_track)[i].X[4]<0){Direction_Angle=Direction_Angle+2*PI;} - Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=Direction_Angle/PI*180; + double Direction_Angle; + Direction_Angle=atan((*trust_track)[i].X[4]/(*trust_track)[i].X[1]); + if((*trust_track)[i].X[1]<0){Direction_Angle=Direction_Angle+PI;} + if((*trust_track)[i].X[1]>0&&(*trust_track)[i].X[4]<0){Direction_Angle=Direction_Angle+2*PI;} + Trust_Track_Output[*Trust_track_num_Output-1][0].Direction_Angle=Direction_Angle/PI*180; - //关联点信息 - Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=(*trust_track)[i].range_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=(*trust_track)[i].azi_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=(*trust_track)[i].elev_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=(*trust_track)[i].vr_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].point_type=1; - Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = (*trust_track)[i].prf_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point; - Trust_Track_Output[*Trust_track_num_Output-1][0].x=(*trust_track)[i].X[0]; - Trust_Track_Output[*Trust_track_num_Output-1][0].y=(*trust_track)[i].X[3]; - Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=(*trust_track)[i].X[1]; - Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=(*trust_track)[i].X[4]; - Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = (*trust_track)[i].RCS; - Trust_Track_Output[*Trust_track_num_Output-1][0].pitch_num = (*trust_track)[i].pitch_num; + //关联点信息 + Trust_Track_Output[*Trust_track_num_Output-1][0].range_point=(*trust_track)[i].range_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].azi_point=(*trust_track)[i].azi_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].elev_point=(*trust_track)[i].elev_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].vr_point=(*trust_track)[i].vr_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].point_type=1; + Trust_Track_Output[*Trust_track_num_Output-1][0].prf_point = (*trust_track)[i].prf_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].track_snr = (*trust_track)[i].snr_point; + Trust_Track_Output[*Trust_track_num_Output-1][0].x=(*trust_track)[i].X[0]; + Trust_Track_Output[*Trust_track_num_Output-1][0].y=(*trust_track)[i].X[3]; + Trust_Track_Output[*Trust_track_num_Output-1][0].v_x=(*trust_track)[i].X[1]; + Trust_Track_Output[*Trust_track_num_Output-1][0].v_y=(*trust_track)[i].X[4]; + Trust_Track_Output[*Trust_track_num_Output-1][0].track_rcs = (*trust_track)[i].RCS; + Trust_Track_Output[*Trust_track_num_Output-1][0].pitch_num = (*trust_track)[i].pitch_num; - std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim, (*trust_track)[i].speed_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim)); - std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim, (*trust_track)[i].range_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim)); - } + std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim, (*trust_track)[i].speed_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].speed_dim)); + std::memcpy(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim, (*trust_track)[i].range_dim, sizeof(Trust_Track_Output[*Trust_track_num_Output-1][0].range_dim)); + } } @@ -100,131 +100,131 @@ void Track_Asso_Tas:: model_interaction( QVector *trust_track, in { - for (int loop_of_track=0;loop_of_tracksize();loop_of_track++) - { + for (int loop_of_track=0;loop_of_tracksize();loop_of_track++) + { - if((*trust_track)[loop_of_track].Track_Index == tas_track_idx) - { + if((*trust_track)[loop_of_track].Track_Index == tas_track_idx) + { -// if(point_process.size()>0) -// { -// qDebug() << "model_interaction point_process :" <0) + // { + // qDebug() << "model_interaction point_process :" < *trust_track, //滤波 - struct RadarPara Work_Parameter, - int tas_track_idx - ) + struct RadarPara Work_Parameter, + int tas_track_idx + ) { //存储关联信息 struct asso_info @@ -247,29 +247,29 @@ void Track_Asso_Tas::model_filter( QVector *trust double h_track; for (int loop_of_track=0;loop_of_tracksize();loop_of_track++) { - if((*trust_track)[loop_of_track].Track_Index == tas_track_idx) - { + if((*trust_track)[loop_of_track].Track_Index == tas_track_idx) + { -// if(point_process.size()>0) -// { -// qDebug() << "model_filter point_process :" <0) + // { + // qDebug() << "model_filter point_process :" < *trust for (int loop_of_point = 0; loop_of_point *trust { if(abs(h_track-h_point)<=150) { - d_h = 1; + d_h = 1; } else { @@ -310,7 +310,7 @@ void Track_Asso_Tas::model_filter( QVector *trust { if(abs(h_track-h_point)<=200) { - d_h = 1; + d_h = 1; } else { @@ -322,7 +322,7 @@ void Track_Asso_Tas::model_filter( QVector *trust { if(abs(h_track-h_point)<=200) { - d_h = 1; + d_h = 1; } else { @@ -333,7 +333,7 @@ void Track_Asso_Tas::model_filter( QVector *trust { if(abs(h_track-h_point)<=300) { - d_h = 1; + d_h = 1; } else { @@ -342,20 +342,20 @@ void Track_Asso_Tas::model_filter( QVector *trust } else { - d_h = 1; + d_h = 1; } -// qDebug() << "T d" < *trust if (associated_info.size()>0) { -// qDebug() << "TAS asoooooo222" ; + // qDebug() << "TAS asoooooo222" ; //找最近点 int min_index=1; @@ -398,9 +398,9 @@ void Track_Asso_Tas::model_filter( QVector *trust double Z[3]={point_process[point_index-1].Range,point_process[point_index-1].Azimuth,point_process[point_index-1].Velocity}; double prt = point_process[point_index-1].PRF_index; double freq_ind = point_process[point_index-1].Freq_index; -// double Z[2]; -// Z[0]=point_process[point_index-1].Range*cos(point_process[point_index-1].Azimuth); -// Z[1]=point_process[point_index-1].Range*sin(point_process[point_index-1].Azimuth); + // double Z[2]; + // Z[0]=point_process[point_index-1].Range*cos(point_process[point_index-1].Azimuth); + // Z[1]=point_process[point_index-1].Range*sin(point_process[point_index-1].Azimuth); double delta_T = (point_process[point_index-1].CPI_Time - T_track)/1000.0; double F[6][6], Q1[6][6], Q2[6][6], Q3[6][6]; IMM_F_Q_gen( v_track, delta_T,F, Q1, Q2, Q3,Work_Parameter); @@ -408,9 +408,9 @@ void Track_Asso_Tas::model_filter( QVector *trust double X1_filter[6],X2_filter[6],X3_filter[6],P1_filter[6][6],P2_filter[6][6],P3_filter[6][6]; double S1[2][2],S2[2][2],S3[2][2]; kalman Kalman; -// Kalman.kalman_filter(F,Q1,X1,P1,Z,X1_filter,P1_filter,S1); -// Kalman.kalman_filter(F,Q2,X2,P2,Z,X2_filter,P2_filter,S2); -// Kalman.kalman_filter(F,Q3,X3,P3,Z,X3_filter,P3_filter,S3); + // Kalman.kalman_filter(F,Q1,X1,P1,Z,X1_filter,P1_filter,S1); + // Kalman.kalman_filter(F,Q2,X2,P2,Z,X2_filter,P2_filter,S2); + // Kalman.kalman_filter(F,Q3,X3,P3,Z,X3_filter,P3_filter,S3); Kalman.kalman_filter_EKF(F,Q1,X1,P1,Z,X1_filter,P1_filter,S1, prt, freq_ind ); Kalman.kalman_filter_EKF(F,Q2,X2,P2,Z,X2_filter,P2_filter,S2, prt, freq_ind ); Kalman.kalman_filter_EKF(F,Q3,X3,P3,Z,X3_filter,P3_filter,S3, prt, freq_ind ); @@ -432,65 +432,65 @@ void Track_Asso_Tas::model_filter( QVector *trust //更新航迹 for(int i=0;isize();i++) - if((*trust_track)[i].Track_Index == tas_track_idx) + if((*trust_track)[i].Track_Index == tas_track_idx) + { + //更新模型概率 + double u_last[3]; + u_last[0]=(*trust_track)[i].u[0]; + u_last[1]=(*trust_track)[i].u[1]; + u_last[2]=(*trust_track)[i].u[2]; + + double c[3]; + c[0]=Pt[0][0]*u_last[0]+Pt[1][0]*u_last[1]+Pt[2][0]*u_last[2]; + c[1]=Pt[0][1]*u_last[0]+Pt[1][1]*u_last[1]+Pt[2][1]*u_last[2]; + c[2]=Pt[0][2]*u_last[0]+Pt[1][2]*u_last[1]+Pt[2][2]*u_last[2]; + + (*trust_track)[i].u[0]=Possibility1*c[0]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]); + (*trust_track)[i].u[1]=Possibility2*c[1]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]); + (*trust_track)[i].u[2]=Possibility3*c[2]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]); + + //更新 X1 X2 X3 P1 P2 P3 + for(int ii=0;ii<6;ii++) { - //更新模型概率 - double u_last[3]; - u_last[0]=(*trust_track)[i].u[0]; - u_last[1]=(*trust_track)[i].u[1]; - u_last[2]=(*trust_track)[i].u[2]; - - double c[3]; - c[0]=Pt[0][0]*u_last[0]+Pt[1][0]*u_last[1]+Pt[2][0]*u_last[2]; - c[1]=Pt[0][1]*u_last[0]+Pt[1][1]*u_last[1]+Pt[2][1]*u_last[2]; - c[2]=Pt[0][2]*u_last[0]+Pt[1][2]*u_last[1]+Pt[2][2]*u_last[2]; - - (*trust_track)[i].u[0]=Possibility1*c[0]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]); - (*trust_track)[i].u[1]=Possibility2*c[1]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]); - (*trust_track)[i].u[2]=Possibility3*c[2]/(Possibility1*c[0]+Possibility2*c[1]+Possibility3*c[2]); - - //更新 X1 X2 X3 P1 P2 P3 - for(int ii=0;ii<6;ii++) - { - (*trust_track)[i].X1[ii]=X1_filter[ii]; - (*trust_track)[i].X2[ii]=X2_filter[ii]; - (*trust_track)[i].X3[ii]=X3_filter[ii]; - } - for(int ii=0;ii<6;ii++) - for (int jj=0;jj<6;jj++) - { - (*trust_track)[i].P1[ii][jj]=P1_filter[ii][jj]; - (*trust_track)[i].P2[ii][jj]=P2_filter[ii][jj]; - (*trust_track)[i].P3[ii][jj]=P3_filter[ii][jj]; - } - - //更新航迹时间 - (*trust_track)[i].T_track = point_process[point_index-1].CPI_Time; - - - - //更新关联上的点迹信息 - (*trust_track)[i].range_point=point_process[point_index-1].Range; - (*trust_track)[i].azi_point=point_process[point_index-1].Azimuth/PI*180; - (*trust_track)[i].elev_point= asin(point_process[point_index-1].Height/point_process[point_index-1].Range)/PI*180; - (*trust_track)[i].vr_point=point_process[point_index-1].Velocity; - (*trust_track)[i].point_type = 1; - (*trust_track)[i].prf_point = point_process[point_index-1].PRF_index; - (*trust_track)[i].snr_point = point_process[point_index-1].snr; - (*trust_track)[i].Extrapolate_round = 0; //连续未用实点更新时间 - (*trust_track)[i].point_flag=1; //实点 - (*trust_track)[i].Amplitude= point_process[point_index-1].Amplitude; //幅度 - (*trust_track)[i].associate_point_number = (*trust_track)[i].associate_point_number+1; //关联点数+1 - (*trust_track)[i].RCS = point_process[point_index-1].RCS; - - (*trust_track)[i].pitch_num = point_process[point_index-1].pitch_num; - - std::memcpy((*trust_track)[i].speed_dim, point_process[point_index-1].speed_dim, sizeof((*trust_track)[i].speed_dim)); - std::memcpy((*trust_track)[i].range_dim, point_process[point_index-1].range_dim, sizeof((*trust_track)[i].range_dim)); - - //更新高度 - track_hight_update(tas_track_idx,point_index,trust_track); + (*trust_track)[i].X1[ii]=X1_filter[ii]; + (*trust_track)[i].X2[ii]=X2_filter[ii]; + (*trust_track)[i].X3[ii]=X3_filter[ii]; } + for(int ii=0;ii<6;ii++) + for (int jj=0;jj<6;jj++) + { + (*trust_track)[i].P1[ii][jj]=P1_filter[ii][jj]; + (*trust_track)[i].P2[ii][jj]=P2_filter[ii][jj]; + (*trust_track)[i].P3[ii][jj]=P3_filter[ii][jj]; + } + + //更新航迹时间 + (*trust_track)[i].T_track = point_process[point_index-1].CPI_Time; + + + + //更新关联上的点迹信息 + (*trust_track)[i].range_point=point_process[point_index-1].Range; + (*trust_track)[i].azi_point=point_process[point_index-1].Azimuth/PI*180; + (*trust_track)[i].elev_point= asin(point_process[point_index-1].Height/point_process[point_index-1].Range)/PI*180; + (*trust_track)[i].vr_point=point_process[point_index-1].Velocity; + (*trust_track)[i].point_type = 1; + (*trust_track)[i].prf_point = point_process[point_index-1].PRF_index; + (*trust_track)[i].snr_point = point_process[point_index-1].snr; + (*trust_track)[i].Extrapolate_round = 0; //连续未用实点更新时间 + (*trust_track)[i].point_flag=1; //实点 + (*trust_track)[i].Amplitude= point_process[point_index-1].Amplitude; //幅度 + (*trust_track)[i].associate_point_number = (*trust_track)[i].associate_point_number+1; //关联点数+1 + (*trust_track)[i].RCS = point_process[point_index-1].RCS; + + (*trust_track)[i].pitch_num = point_process[point_index-1].pitch_num; + + std::memcpy((*trust_track)[i].speed_dim, point_process[point_index-1].speed_dim, sizeof((*trust_track)[i].speed_dim)); + std::memcpy((*trust_track)[i].range_dim, point_process[point_index-1].range_dim, sizeof((*trust_track)[i].range_dim)); + + //更新高度 + track_hight_update(tas_track_idx,point_index,trust_track); + } } //未关联上，航迹外推 @@ -532,72 +532,72 @@ void Track_Asso_Tas::model_filter( QVector *trust void Track_Asso_Tas::model_output(QVector *trust_track, int tas_track_idx ) { for(int i=0; isize(); i++) - if((*trust_track)[i].Track_Index==tas_track_idx) - { + if((*trust_track)[i].Track_Index==tas_track_idx) + { - double u_now[3]; - u_now[0]=(*trust_track)[i].u[0]; - u_now[1]=(*trust_track)[i].u[1]; - u_now[2]=(*trust_track)[i].u[2]; + double u_now[3]; + u_now[0]=(*trust_track)[i].u[0]; + u_now[1]=(*trust_track)[i].u[1]; + u_now[2]=(*trust_track)[i].u[2]; - double X1_filter[6],X2_filter[6],X3_filter[6]; - double P1_filter[6][6],P2_filter[6][6],P3_filter[6][6]; - for (int ii=0;ii<6;ii++) + double X1_filter[6],X2_filter[6],X3_filter[6]; + double P1_filter[6][6],P2_filter[6][6],P3_filter[6][6]; + for (int ii=0;ii<6;ii++) + { + X1_filter[ii]=(*trust_track)[i].X1[ii]; + X2_filter[ii]=(*trust_track)[i].X2[ii]; + X3_filter[ii]=(*trust_track)[i].X3[ii]; + } + for (int ii=0;ii<6;ii++) + for(int jj=0;jj<6;jj++) { - X1_filter[ii]=(*trust_track)[i].X1[ii]; - X2_filter[ii]=(*trust_track)[i].X2[ii]; - X3_filter[ii]=(*trust_track)[i].X3[ii]; + P1_filter[ii][jj]=(*trust_track)[i].P1[ii][jj]; + P2_filter[ii][jj]=(*trust_track)[i].P2[ii][jj]; + P3_filter[ii][jj]=(*trust_track)[i].P3[ii][jj]; } - for (int ii=0;ii<6;ii++) - for(int jj=0;jj<6;jj++) - { - P1_filter[ii][jj]=(*trust_track)[i].P1[ii][jj]; - P2_filter[ii][jj]=(*trust_track)[i].P2[ii][jj]; - P3_filter[ii][jj]=(*trust_track)[i].P3[ii][jj]; - } - double X_filter[6], P_filter[6][6]; - for (int ii=0;ii<6;ii++) - X_filter[ii]=u_now[0]*X1_filter[ii]+u_now[1]*X2_filter[ii]+u_now[2]*X3_filter[ii]; + double X_filter[6], P_filter[6][6]; + for (int ii=0;ii<6;ii++) + X_filter[ii]=u_now[0]*X1_filter[ii]+u_now[1]*X2_filter[ii]+u_now[2]*X3_filter[ii]; - double X1_sub_X[6], X2_sub_X[6], X3_sub_X[6]; - double X1X[6][6], X2X[6][6],X3X[6][6]; - for (int ii=0;ii<6;ii++) + double X1_sub_X[6], X2_sub_X[6], X3_sub_X[6]; + double X1X[6][6], X2X[6][6],X3X[6][6]; + for (int ii=0;ii<6;ii++) + { + X1_sub_X[ii]=X1_filter[ii]-X_filter[ii]; + X2_sub_X[ii]=X2_filter[ii]-X_filter[ii]; + X3_sub_X[ii]=X3_filter[ii]-X_filter[ii]; + } + for(int ii=0;ii<6;ii++) + for (int jj=0;jj<6;jj++) { - X1_sub_X[ii]=X1_filter[ii]-X_filter[ii]; - X2_sub_X[ii]=X2_filter[ii]-X_filter[ii]; - X3_sub_X[ii]=X3_filter[ii]-X_filter[ii]; + X1X[ii][jj]=X1_sub_X[ii]*X1_sub_X[jj]; + X2X[ii][jj]=X2_sub_X[ii]*X2_sub_X[jj]; + X3X[ii][jj]=X3_sub_X[ii]*X3_sub_X[jj]; } - for(int ii=0;ii<6;ii++) - for (int jj=0;jj<6;jj++) - { - X1X[ii][jj]=X1_sub_X[ii]*X1_sub_X[jj]; - X2X[ii][jj]=X2_sub_X[ii]*X2_sub_X[jj]; - X3X[ii][jj]=X3_sub_X[ii]*X3_sub_X[jj]; - } - for(int ii=0;ii<6;ii++) - for (int jj=0;jj<6;jj++) - P_filter[ii][jj]=u_now[0]*(P1_filter[ii][jj]+X1X[ii][jj])+u_now[1]*(P2_filter[ii][jj]+X2X[ii][jj])+u_now[2]*(P3_filter[ii][jj]+X3X[ii][jj]); + for(int ii=0;ii<6;ii++) + for (int jj=0;jj<6;jj++) + P_filter[ii][jj]=u_now[0]*(P1_filter[ii][jj]+X1X[ii][jj])+u_now[1]*(P2_filter[ii][jj]+X2X[ii][jj])+u_now[2]*(P3_filter[ii][jj]+X3X[ii][jj]); - //本地航迹文件更新 - (*trust_track)[i].X[0]=X_filter[0]; //位置 速度 - (*trust_track)[i].X[1]=X_filter[1]; - (*trust_track)[i].X[2]=X_filter[2]; - (*trust_track)[i].X[3]=X_filter[3]; - (*trust_track)[i].X[4]=X_filter[4]; - (*trust_track)[i].X[5]=X_filter[5]; + //本地航迹文件更新 + (*trust_track)[i].X[0]=X_filter[0]; //位置 速度 + (*trust_track)[i].X[1]=X_filter[1]; + (*trust_track)[i].X[2]=X_filter[2]; + (*trust_track)[i].X[3]=X_filter[3]; + (*trust_track)[i].X[4]=X_filter[4]; + (*trust_track)[i].X[5]=X_filter[5]; - for(int ii=0;ii<6;ii++) //协方差矩阵 - for (int jj=0;jj<6;jj++) - (*trust_track)[i].P[ii][jj]=P_filter[ii][jj]; + for(int ii=0;ii<6;ii++) //协方差矩阵 + for (int jj=0;jj<6;jj++) + (*trust_track)[i].P[ii][jj]=P_filter[ii][jj]; - //航迹区更新 - double r, azi; - coor_trans Coor_trans; - Coor_trans.cart2polar((*trust_track)[i].X[0], (*trust_track)[i].X[3], &r, &azi); + //航迹区更新 + double r, azi; + coor_trans Coor_trans; + Coor_trans.cart2polar((*trust_track)[i].X[0], (*trust_track)[i].X[3], &r, &azi); - } + } } @@ -665,58 +665,58 @@ void Track_Asso_Tas::IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], q2=10.0*Work_Parameter.Model2_Q_fast; } else - { - q2=Work_Parameter.Model2_Q_fast; - } +{ + q2=Work_Parameter.Model2_Q_fast; +} - double q112=1/(2*pow(alpha,5))*(1-exp(-2*alpha*delta_T)+2*alpha*delta_T+2*pow(alpha,3)*pow(delta_T,3)/3-2*pow(alpha,2)*pow(delta_T,2)-4*alpha*delta_T*exp(-alpha*delta_T)); - double q122=1/(2*pow(alpha,4))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)+2*alpha*delta_T*exp(-alpha*delta_T)-2*alpha*delta_T+pow(alpha,2)*pow(delta_T,2)); - double q132=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T)); - double q222=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T); - double q232=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)); - double q332=1/(2*alpha)*(1-exp(-2*alpha*delta_T)); +double q112=1/(2*pow(alpha,5))*(1-exp(-2*alpha*delta_T)+2*alpha*delta_T+2*pow(alpha,3)*pow(delta_T,3)/3-2*pow(alpha,2)*pow(delta_T,2)-4*alpha*delta_T*exp(-alpha*delta_T)); +double q122=1/(2*pow(alpha,4))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)+2*alpha*delta_T*exp(-alpha*delta_T)-2*alpha*delta_T+pow(alpha,2)*pow(delta_T,2)); +double q132=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T)); +double q222=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T); +double q232=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)); +double q332=1/(2*alpha)*(1-exp(-2*alpha*delta_T)); - memset(Q2,0,36*sizeof(double)); - Q2[0][0]=q2*q112;Q2[0][1]=q2*q122; Q2[0][2]=q2*q132; - Q2[1][0]=q2*q122;Q2[1][1]=q2*q222; Q2[1][2]=q2*q232; - Q2[2][0]=q2*q132; Q2[2][1]=q2*q232; Q2[2][2]=q2*q332; +memset(Q2,0,36*sizeof(double)); +Q2[0][0]=q2*q112;Q2[0][1]=q2*q122; Q2[0][2]=q2*q132; +Q2[1][0]=q2*q122;Q2[1][1]=q2*q222; Q2[1][2]=q2*q232; +Q2[2][0]=q2*q132; Q2[2][1]=q2*q232; Q2[2][2]=q2*q332; - Q2[3][3]=q2*q112; Q2[3][4]=q2*q122; Q2[3][5]=q2*q132; - Q2[4][3]=q2*q122; Q2[4][4]=q2*q222; Q2[4][5]=q2*q232; - Q2[5][3]=q2*q132; Q2[5][4]=q2*q232; Q2[5][5]=q2*q332; +Q2[3][3]=q2*q112; Q2[3][4]=q2*q122; Q2[3][5]=q2*q132; +Q2[4][3]=q2*q122; Q2[4][4]=q2*q222; Q2[4][5]=q2*q232; +Q2[5][3]=q2*q132; Q2[5][4]=q2*q232; Q2[5][5]=q2*q332; - //模型3 - //Q - double q3; - if(v_track<=5) - { - q3=Work_Parameter.Model3_Q_slow/20; - } - else if(v_track<=100&&v_track>50) - { - q3=10.0*Work_Parameter.Model3_Q_fast; - } - else - { - q3=Work_Parameter.Model3_Q_fast; - } - double q113=1/(2*pow(alpha,5))*(1-exp(-2*alpha*delta_T)+2*alpha*delta_T+2*pow(alpha,3)*pow(delta_T,3)/3-2*pow(alpha,2)*pow(delta_T,2)-4*alpha*delta_T*exp(-alpha*delta_T)); - double q123=1/(2*pow(alpha,4))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)+2*alpha*delta_T*exp(-alpha*delta_T)-2*alpha*delta_T+pow(alpha,2)*pow(delta_T,2)); - double q133=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T)); - double q223=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T); - double q233=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)); - double q333=1/(2*alpha)*(1-exp(-2*alpha*delta_T)); +//模型3 +//Q +double q3; +if(v_track<=5) +{ + q3=Work_Parameter.Model3_Q_slow/20; +} +else if(v_track<=100&&v_track>50) +{ + q3=10.0*Work_Parameter.Model3_Q_fast; +} +else +{ +q3=Work_Parameter.Model3_Q_fast; +} +double q113=1/(2*pow(alpha,5))*(1-exp(-2*alpha*delta_T)+2*alpha*delta_T+2*pow(alpha,3)*pow(delta_T,3)/3-2*pow(alpha,2)*pow(delta_T,2)-4*alpha*delta_T*exp(-alpha*delta_T)); +double q123=1/(2*pow(alpha,4))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)+2*alpha*delta_T*exp(-alpha*delta_T)-2*alpha*delta_T+pow(alpha,2)*pow(delta_T,2)); +double q133=1/(2*pow(alpha,3))*(1-exp(-2*alpha*delta_T)-2*alpha*delta_T*exp(-alpha*delta_T)); +double q223=1/(2*pow(alpha,3))*(4*exp(-alpha*delta_T)-3-exp(-2*alpha*delta_T)+2*alpha*delta_T); +double q233=1/(2*pow(alpha,2))*(exp(-2*alpha*delta_T)+1-2*exp(-alpha*delta_T)); +double q333=1/(2*alpha)*(1-exp(-2*alpha*delta_T)); - memset(Q3,0,36*sizeof(double)); - Q3[0][0]=q3*q113; Q3[0][1]=q3*q123; Q3[0][2]=q3*q133; - Q3[1][0]=q3*q123; Q3[1][1]=q3*q223; Q3[1][2]=q3*q233; - Q3[2][0]=q3*q133; Q3[2][1]=q3*q233; Q3[2][2]=q3*q333; +memset(Q3,0,36*sizeof(double)); +Q3[0][0]=q3*q113; Q3[0][1]=q3*q123; Q3[0][2]=q3*q133; +Q3[1][0]=q3*q123; Q3[1][1]=q3*q223; Q3[1][2]=q3*q233; +Q3[2][0]=q3*q133; Q3[2][1]=q3*q233; Q3[2][2]=q3*q333; - Q3[3][3]=q3*q113; Q3[3][4]=q3*q123; Q3[3][5]=q3*q133; - Q3[4][3]=q3*q123; Q3[4][4]=q3*q223; Q3[4][5]=q3*q233; - Q3[5][3]=q3*q133; Q3[5][4]=q3*q233; Q3[5][5]=q3*q333; +Q3[3][3]=q3*q113; Q3[3][4]=q3*q123; Q3[3][5]=q3*q133; +Q3[4][3]=q3*q123; Q3[4][4]=q3*q223; Q3[4][5]=q3*q233; +Q3[5][3]=q3*q133; Q3[5][4]=q3*q233; Q3[5][5]=q3*q333; } @@ -724,21 +724,21 @@ void Track_Asso_Tas::IMM_F_Q_gen(double v_track, double delta_T,double F[6][6], // 计算三个 d void Track_Asso_Tas::IMM_d_cal(double v_track, - double X1[6], double P1[6][6], - double X2[6], double P2[6][6], - double X3[6], double P3[6][6], - double Z[3], double prt,double freq_ind, - double delta_T, - double *d1,double *d2,double *d3, - struct RadarPara Work_Parameter) + double X1[6], double P1[6][6], +double X2[6], double P2[6][6], +double X3[6], double P3[6][6], +double Z[3], double prt,double freq_ind, +double delta_T, +double *d1,double *d2,double *d3, +struct RadarPara Work_Parameter) { double F[6][6], Q1[6][6], Q2[6][6], Q3[6][6]; IMM_F_Q_gen( v_track, delta_T,F, Q1, Q2, Q3,Work_Parameter); kalman Kalman; -// *d1=Kalman.d_cal_with_doppler(F,Q1,Z,X1,P1,v_point,prt,freq_ind); -// *d2=Kalman.d_cal_with_doppler(F,Q2,Z,X2,P2,v_point,prt,freq_ind); -// *d3=Kalman.d_cal_with_doppler(F,Q3,Z,X3,P3,v_point,prt,freq_ind); + // *d1=Kalman.d_cal_with_doppler(F,Q1,Z,X1,P1,v_point,prt,freq_ind); + // *d2=Kalman.d_cal_with_doppler(F,Q2,Z,X2,P2,v_point,prt,freq_ind); + // *d3=Kalman.d_cal_with_doppler(F,Q3,Z,X3,P3,v_point,prt,freq_ind); *d1=Kalman.d_cal_EKF(F,Q1,Z,X1,P1,prt,freq_ind); *d2=Kalman.d_cal_EKF(F,Q2,Z,X2,P2,prt,freq_ind); *d3=Kalman.d_cal_EKF(F,Q3,Z,X3,P3,prt,freq_ind); @@ -749,62 +749,62 @@ void Track_Asso_Tas::IMM_d_cal(double v_track, //高度维更新 void Track_Asso_Tas::track_hight_update(int tas_track_idx, //更新的航迹号 - int asso_point_index, //点迹号 - QVector *trust_track //航迹 - ) + int asso_point_index, //点迹号 + QVector *trust_track //航迹 + ) { for(int i=0; isize(); i++) if((*trust_track)[i].Track_Index==tas_track_idx) - { - (*trust_track)[i].Hight_smooth.push_back(point_process[asso_point_index-1].Height); + { + (*trust_track)[i].Hight_smooth.push_back(point_process[asso_point_index-1].Height); - int height_win_length; - if((*trust_track)[i].range_point <= 1000) - { - height_win_length = H_F_WIN_LEN+2; - } - else if((*trust_track)[i].range_point <= 2000 && (*trust_track)[i].range_point > 1000) - { - height_win_length = H_F_WIN_LEN+3; - } - else if((*trust_track)[i].range_point <= 4000 && (*trust_track)[i].range_point > 2000) - { - height_win_length = H_F_WIN_LEN+4; - } - else - { - height_win_length = H_F_WIN_LEN+6; - } + int height_win_length; + if((*trust_track)[i].range_point <= 1000) + { + height_win_length = H_F_WIN_LEN+2; + } + else if((*trust_track)[i].range_point <= 2000 && (*trust_track)[i].range_point > 1000) + { + height_win_length = H_F_WIN_LEN+3; + } + else if((*trust_track)[i].range_point <= 4000 && (*trust_track)[i].range_point > 2000) + { + height_win_length = H_F_WIN_LEN+4; + } + else + { + height_win_length = H_F_WIN_LEN+6; + } - double sum=0; - if((*trust_track)[i].Hight_smooth.size()=height_win_length) - { + } + else if((*trust_track)[i].Hight_smooth.size()>=height_win_length) + { - int N=(*trust_track)[i].Hight_smooth.size(); - for (int ii=0;ii #include"memory.h" #include +#include using namespace std; void Track_Die_Tas::track_die_process_tas( QVector *trust_track, - int Track_die_Index_Output[], - int *Track_die_num_Output) - { + int Track_die_Index_Output[], + int *Track_die_num_Output) +{ QVector ::iterator Iter; for (Iter=trust_track->begin(); Iter!=trust_track->end();) { if( ((*Iter).Track_Mode == 1 && (*Iter).Extrapolate_round >= TRACK_DIE_ROUND_TAS) - ||(*Iter).manual_delete_flag == 1) + ||(*Iter).manual_delete_flag == 1) { + qDebug() << "remove tas target :" << (*Iter).Track_Index; //输出消亡信息 *Track_die_num_Output=*Track_die_num_Output+1; Track_die_Index_Output[*Track_die_num_Output-1]=(*Iter).Track_Index;

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z639gbpm`VH!}mkwR?Ta9oQM~#M6yT`sRD`aVxY(r*&+wBkuOTcLQyU@Lmhcg91-V4 zjkpAwnCPeYslN2BpYCTuRoOzO$qbnX?mC*4eZO)1-e+5=!L-O6`(^E;P`vM>8ruzYrx@SO{(c`GR#0T z%#1cUCeIX@VqpD3Q)X6}3bWZ%nLXx+sWY)Q-X_{sHpOfC~`D4ZLXh2@}}HT4SUmBe_t z0F?yP0=U@|4Fg`5qE)B@xLJ+PL8TW(P8y(PAYf!}JuBDY{eXZ3Vu6tllRUDVtRlNe zHMm0}?MNB5z{AlrmzL5pdXUzFs>QNoW?34`WW%B&Ru1Q~aPd$qimP8W2fVEcT|x=C PBdio{`v2>HBLe>dB7(qA diff --git a/build/output/data_process_class_dll.h b/build/output/data_process_class_dll.h deleted file mode 100644 index 9427091..0000000 --- a/build/output/data_process_class_dll.h +++ /dev/null @@ -1,285 +0,0 @@ -#pragma once -#ifndef DATA_PROCESS_CLASS_DLL_H -#define DATA_PROCESS_CLASS_DLL_H - -#include "data_process_class_dll_global.h" - -/***************************************************** 结构体 ********************************************************/ -// 输入点迹的数据结构 用户可见 -struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT DataRev - { - float Range; //径向距离 （米） - float Azimuth; //方位 （度） - float Elevation; //俯仰 （度） - float Velocity; //速度 （m/s） - float Amplitude; //幅度 - float Threshold; //目标门限 - float Snr; //目标信噪比 - float RCS; //目标RCS - float Encoder_value; //码盘值 - int CPI_time; //CPI时间 该波位无点迹输入时也需要给出当前时间 - int Beam_index_azi_0; //上一个cpi波位 - int Beam_index_aiz; //方位波位号（0-24） 该波位无输入点迹时 也需要给出当前波位 - int Beam_index_elev; //俯仰波位号（0-13） - int PRI; //PRI(us) 给0 - int Freq_index; //频点号 给0 - int Point_Sum; //输入点迹总数 若该波位无点迹输入 置为0 - int Point_Num; //点迹号(1,2,3,4...) - int UseFlag; //点迹使用标记 使用1/未使用0 主程序存入数据时置为0 - int TAS_track_index; //TAS的航迹号 - int point_type; //点迹类型 TAS 1/TWS 0 - int pitch_num; // 俯仰波位号 - float speed_dim[129]; // 目标的十字星数据,目标点速度维129个点 - float range_dim[8]; // 目标的十字星数据,目标点距离维8个点 - }; - - -//输出航迹的数据结构 用户可见 -struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Track -{ - float x; //x坐标 - float y; //y坐标 - float z; //z坐标 - float v_x; //x速度 - float v_y; //y速度 - float v_z; //z速度 - float Range; //径向距离 - float Azimuth; //方位 - float Elevation; //俯仰 - float Range_V; //速度 - float Amplitude; //幅度 - int Track_Index; //航迹号 - int Point_Sum; //本条航迹更新点的数目 - int Flag_Direction; //方向标志1靠近/0远离 - int Flag_Point; //点迹类型1实点/0补点 - float x_Predict; //x坐标的一步预测 - float y_Predict; //y坐标的一步预测 - float z_Predict; //z坐标的一步预测 - float Range_Predict; //径向距离的一步预测 - float Azimuth_Predict; //方位的一步预测 - float Elevation_Predict; //俯仰的一步预测 - int Track_Mode; //跟踪模式,TAS 1/TWS 0 - float Direction_Angle; //目标航向角 - int Target_Type; //目标类型 - - int point_type; //点迹类型 TAS 1/TWS 0 - - float range_point; //关联上的点迹信息（距离、方位、俯仰、径向速度） - float azi_point; - float elev_point; - float vr_point; - float prf_point; - - float track_time; //航迹时间 (单位 s) - float track_snr; //信噪比 - float track_rcs; //rcs - - int pitch_num; // 俯仰波位号 - float speed_dim[129]; // 目标的十字星数据,目标点速度维129个点 - float range_dim[8]; // 目标的十字星数据,目标点距离维8个点 -}; - - - -// 跟踪波束信息的结构体 -struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT TrackingBeam -{ - int open_flag; //是否开启 1开启 0不开启 - - int type; //类型 - float Range; //跟踪目标距离 - float Azi; //跟踪目标方位 - float Elev; //跟踪目标俯仰 - - int TAS_track_index; //目标批号 -}; - -//引导跟踪信息的结构体 -struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT Target_direct_tracking -{ - int Track_ID; //引导目标批号 - float Range; //引导目标距离 - float Azi; //引导目标方位 - float Elev; //引导目标俯仰 - int open_flag; // 1 引导跟踪 0 结束引导跟踪 -}; - - - -// 雷达参数结构体 -struct DATA_PROCESS_CLASS_DLLSHARED_EXPORT RadarPara -{ - int Beam_num; //波位数 - - float Height; //雷达平台高度 （m） - - float Sys_delay; //系统延迟 (s) - float R_TAS_max; //TAS最大距离 （m） - float R_TAS_min; //TAS最小距离 (m) - - float V_TAS_max; //TAS最大速度 (m/s) - float V_TAS_min; //TAS最小速度 (m/s) - - float TAS_Height_1; //TAS跟踪高度1 (m) - float TAS_Height_2; //TAS跟踪高度2 (m) - float TAS_Height_3; //TAS跟踪高度3 (m) - float TAS_Height_4; //TAS跟踪高度4 (m) - float TAS_Height_5; //TAS跟踪高度5 (m) - - - int track_prohibite_area_num; //禁止航迹起始的区域数目 - float R_max_track_prohibited[30]; //最大距离 (m) - float R_min_track_prohibited[30]; //最小距离 (m) - float Azimuth_max_track_prohibited[30]; //最大方位角 (度) - float Azimuth_min_track_prohibited[30]; //最小方位角 （度） - - - int TAS_prohibite_area_num; //禁止TAS的区域数目 - float R_max_TAS_prohibited[30]; //最大距离 （m） - float R_min_TAS_prohibited[30]; //最小距离 (m) - float Azimuth_max_TAS_prohibited[30]; //最大方位角 (度) - float Azimuth_min_TAS_prohibited[30]; //最小方位角 (度) - - int cfar_th; //cfar门限 - - int work_mode; //工作模式 0进程 1中程 3远程 - int north_angle; //北偏角 - - float V_MAX; //最大速度 - float V_MIN; //最小速度 - - float DATA_RATE_SHORT; //三种不同模式下的 数据率 - float DATA_RATE_MIDDLE; - float DATA_RATE_FAR; - - - //数据关联参数 - int track_start_point_num; //起批点数(典型值 3或4) - float track_start_threshold; //起航波门大小(典型值 3) - float track_asso_threshold; //关联波门大小(典型值 3) - float track_asso_threshold_tas; //关联波门大小tas (典型值 3) - - //singer模型机动参数 - float Model1_Q_fast; //0.00001 - float Model1_Q_slow; //0.00001 - - float Model2_Q_fast; //0.1 - float Model2_Q_slow; //0.001 - - float Model3_Q_fast; //0.8 - float Model3_Q_slow; //0.4 - -}; - - - -class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_process_class_dll -{ - -public: - // Data_process_class_dll(); - - //数据预处理函数 - virtual int data_preprocess(struct DataRev Data_Input[150]) //雷达的输入点迹 主程序创建全局变量 输入数据 - { - return 0; - } - - - //数据处理函数 - virtual int track_process(struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据 - int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据 - int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据 - int *Track_die_num_Output, //数据处理后要消亡的航迹数目 - int model //模式 输入data_preprocess的返回值 - ) - { - return 0; - } - - //波束控制 - virtual void Beam_Ctrl(struct TrackingBeam *Tracking_beam, - struct Track Trust_Track_Output[][10], - int *Trust_track_num_Output) - { - - } - - //引导跟踪处理函数 - virtual int direct_tracking_process(struct Target_direct_tracking Target_direct_info, //引导信息 - struct DataRev Data_Input[150], //雷达的输入点迹 - struct Track Trust_Track_Output[][10], //数据处理输出的航迹更新信息 主程序创建全局变量 数据处理函数更新其中数据 - int *Trust_track_num_Output, //数据处理后输出的航迹数目 主程序创建全局变量 数据处理函数更新其中数据 - int Track_die_Index_Output[], //数据处理后要消亡的航迹 主程序创建全局变量 数据处理函数更新其中数据 - int *Track_die_num_Output, //数据处理后要消亡的航迹数目 - struct TrackingBeam *Tracking_beam //波束控制信息 - ) - { - return 0; - } - - - //航迹清空函数 - virtual int track_clear_all(void) - { - return 0; - } - - - - - //手动航迹删除函数 - virtual int track_delete(int delete_track_num, //手动删除的航迹数目 - int delete_track_index[]) //手动删除的航迹号 - { - return 0; - } - - - //手动转TAS跟踪函数 - virtual int tracking_start(int track_index) //需要手动转入TAS跟踪的航迹号 - { - return 0; - } - - - //手动打跟踪波束 - virtual int tracking_point(float Azimuth) //方位角 - { - return 0; - } - - - - //参数设置初始化函数 - virtual int track_process_parameters_initial(struct RadarPara Radar_Parameter) - { - return 0; - } - - - //参数设置修改函数 - virtual int track_process_parameters_modify(struct RadarPara Radar_Parameter) - { - return 0; - } - - - -}; - - -//工厂类 用户可见 -class DATA_PROCESS_CLASS_DLLSHARED_EXPORT Data_Process_Factory -{ -public: - static Data_process_class_dll *GetB(); //创建 - static void Destroy(); //销毁 - -private: - static Data_process_class_dll *p; -}; - - - -#endif // 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