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更新：1、优化TAS逻辑

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2、优化宏定义

Signed-off-by: waiwaylee <waiwaylee@foxmail.com>
This commit is contained in:
waiwaylee
2026-09-07 09:48:58 +08:00
parent e729c5baee
commit f438ac53d9
6 changed files with 104 additions and 126 deletions
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data_process_class_dll/track_init.cpp
+19 -53
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@@ -342,64 +342,30 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
double h_track_head = (*temp_track)[j][0].height;
double T_track_head = (*temp_track)[j][0].T;
// if(T_track_head == 30675948)
// {
// std::cout << "r_point=" << r_point
// << "h_point=" << h_point
// << "T_point=" << T_point
// << "x_track_head=" << x_track_head
// << "y_track_head=" << y_track_head
// << "v_track_head=" << v_track_head
// << "T_track_head=" << T_track_head;
// }
//距离差
double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2));
// if(T_point == 30682320)
// {
// std::cout <<"!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!!";
// std::cout << "r_point=" << r_point
// << "h_point=" << h_point
// << "T_point=" << T_point
// << "x_track_head=" << x_track_head
// << "y_track_head=" << y_track_head
// << "v_track_head=" << v_track_head
// << "T_track_head=" << T_track_head;
// }
double vmax;
if(Work_Parameter.work_mode == 0) //近程模式 最大速度减小一点
{
vmax = Work_Parameter.V_MAX;
}
else //中远程模式 最大速度正常用
{
vmax = Work_Parameter.V_MAX;
}
//距离差
double dis = sqrt(pow(x_point-x_track_head,2)+pow(y_point-y_track_head,2));
double vmax;
if(Work_Parameter.work_mode == 0) //近程模式 最大速度减小一点
{
vmax = Work_Parameter.V_MAX;
}
else //中远程模式 最大速度正常用
{
vmax = Work_Parameter.V_MAX;
}
double delta_T = (T_point - T_track_head)/1000.0;
double delta_T = (T_point - T_track_head)/1000.0;
//满足关联条件的点航
// if( ( (r_point>=1000 && dis<=vmax*delta_T && dis>=V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=V_MIN*delta_T/2.0) )
// && vr_point*v_track_head>0 )//&& fabs(vr_point-v_track_head)/fabs(v_track_head)<0.2 && fabs(h_point-h_track_head)<=r_point*SIGMA_E
if(
( (Work_Parameter.work_mode == 0&&( (r_point>=1000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) ))
|| (Work_Parameter.work_mode != 0&&( (r_point>=2000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<2000 && dis<=vmax*delta_T/3.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) ))
)
&& vr_point*v_track_head>0 )
{
// if(T_track_head == 30675948)
// {
// std::cout << "r_point=" << r_point
// << "h_point=" << h_point
// << "T_point=" << T_point
// << "x_track_head=" << x_track_head
// << "y_track_head=" << y_track_head
// << "v_track_head=" << v_track_head
// << "T_track_head=" << T_track_head;
// }
if(
( (Work_Parameter.work_mode == 0&&( (r_point>=1000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<1000 && dis<=vmax*delta_T/2.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) ))
|| (Work_Parameter.work_mode != 0&&( (r_point>=2000 && dis<=vmax*delta_T && dis>=Work_Parameter.V_MIN*delta_T) || (r_point<2000 && dis<=vmax*delta_T/3.0 && dis>=Work_Parameter.V_MIN*delta_T/2.0) ))
)
&& vr_point*v_track_head>0 )
{
struct Asso_info asso_info_tmp;
asso_info_tmp.point_idx = i+1;
@@ -408,7 +374,7 @@ void Track_Init::point_track_head_asso( std::vector <std::vector<Temp_track>>
(*temp_track)[j][0].asso_flag = 1;
point_process[i].Use_Flag = 1;
//std::cout << "v_track_head: " << v_track_head << "vr_point: " << vr_point;
}
}
}
}