EgomotionState.h

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#ifndef DW_EGOMOTION_BASE_EGOMOTIONSTATE_H_
#define DW_EGOMOTION_BASE_EGOMOTIONSTATE_H_
 
#include <dw/egomotion/base/Egomotion.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwEgomotionStateObject* dwEgomotionStateHandle_t;
typedef struct dwEgomotionStateObject const* dwConstEgomotionStateHandle_t;
 
typedef struct dwEgomotionStateParams
{
    dwMotionModel type;
 
    size_t historySize;
} dwEgomotionStateParams;
 
DW_API_PUBLIC
dwStatus dwEgomotion_createEmptyState(dwEgomotionStateHandle_t* state, dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getState(dwEgomotionStateHandle_t state, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getHistoryCapacity(size_t* capacity, dwEgomotionConstHandle_t obj);
 
// --------------------------------------------
//  State
// --------------------------------------------
 
DW_API_PUBLIC
dwStatus dwEgomotionState_estimate(dwEgomotionResult* pose, dwEgomotionUncertainty* uncertainty,
                                   dwTime_t timestamp_us, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_computeRelativeTransformation(dwTransformation3f* poseAtoB,
                                                        dwEgomotionTransformationQuality* quality,
                                                        dwTime_t timestamp_a, dwTime_t timestamp_b,
                                                        dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_computeBodyTransformation(dwTransformation3f* const transformationAToB,
                                                    dwEgomotionTransformationQuality* const quality,
                                                    dwTime_t const timestamp,
                                                    dwCoordinateSystem const coordinateSystemA,
                                                    dwCoordinateSystem const coordinateSystemB,
                                                    dwConstEgomotionStateHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getEstimationTimestamp(dwTime_t* timestamp, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getEstimation(dwEgomotionResult* result, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getUncertainty(dwEgomotionUncertainty* result, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getGyroscopeBias(dwVector3f* gyroBias, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getHistorySize(size_t* num, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getHistoryCapacity(size_t* capacity, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getHistoryElement(dwEgomotionResult* pose, dwEgomotionUncertainty* uncertainty,
                                            size_t index, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getMotionModel(dwMotionModel* model, dwConstEgomotionStateHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_createEmpty(dwEgomotionStateHandle_t* state, dwEgomotionStateParams params, dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_release(dwEgomotionStateHandle_t state);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_getMaxNumBytes(size_t* bufferCapacity, dwConstEgomotionStateHandle_t state);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_serialize(size_t* numBytes, uint8_t* buffer, size_t bufferCapacity, dwConstEgomotionStateHandle_t state);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_deserialize(const uint8_t* buffer, size_t bufferSize, dwEgomotionStateHandle_t state);
 
DW_API_PUBLIC
dwStatus dwEgomotionState_copy(dwEgomotionStateHandle_t state, dwConstEgomotionStateHandle_t source);
 
#ifdef __cplusplus
}
#endif
#endif // DW_EGOMOTION_BASE_EGOMOTIONSTATE_H_