RadarDopplerMotion Interface

Detailed Description

Provides estimation of the speed and heading of the radar observing doppler based radar measurements.

Typedefs
typedef struct dwRadarDopplerMotionObject *	dwRadarDopplerMotionHandle_t
	Handle to a radar-motion module object. More...

Functions
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_addVehicleIOState (dwVehicleIOSafetyState const *safeState, dwVehicleIONonSafetyState const *nonSafeState, dwVehicleIOActuationFeedback const *actuationFeedback, dwRadarDopplerMotionHandle_t obj)
	Notifies the radar module of a changed vehicle state. More...
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_getCUDAStream (cudaStream_t *stream, dwRadarDopplerMotionHandle_t obj)
	Gets CUDA stream used by the radar Doppler motion. More...
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_getDefaultParams (dwRadarDopplerMotionParams *params)
	Get the default Radar Doppler motion parameters. More...
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_getMotion (dwRadarDopplerMotion *motion, dwRadarDopplerMotionHandle_t obj)
	Gets the available radar motion estimation result. More...
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_initialize (dwRadarDopplerMotionHandle_t *obj, const dwRadarDopplerMotionParams *params, cudaStream_t stream, dwContextHandle_t ctx)
	Creates and initializes a GPU-based radar motion estimation module. More...
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_processAsync (const dwRadarScan *radarScan, dwRadarDopplerMotionHandle_t obj)
	Process the dwRadarScan and compute the radar motion. More...
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_release (dwRadarDopplerMotionHandle_t obj)
	Releases the radar Doppler motion module. More...
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_reset (dwRadarDopplerMotionHandle_t obj)
	Resets the radar Doppler motion module. More...
DW_API_PUBLIC dwStatus	dwRadarDopplerMotion_setCUDAStream (cudaStream_t stream, dwRadarDopplerMotionHandle_t obj)
	Sets the CUDA stream for CUDA related operations. More...

Typedef Documentation

dwRadarDopplerMotionHandle_t

typedef struct dwRadarDopplerMotionObject* dwRadarDopplerMotionHandle_t

Handle to a radar-motion module object.

Definition at line 63 of file DopplerMotionEstimator.h.

Function Documentation

dwRadarDopplerMotion_addVehicleIOState()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_addVehicleIOState	(	dwVehicleIOSafetyState const *	safeState,
		dwVehicleIONonSafetyState const *	nonSafeState,
		dwVehicleIOActuationFeedback const *	actuationFeedback,
		dwRadarDopplerMotionHandle_t	obj
	)

Notifies the radar module of a changed vehicle state.

In case relevant new information is contained in this state then it gets consumed, otherwise state is ignored.

Parameters

[in]	safeState	New dwVehicleIOSafetyState which contains potentially new information for radar consumption
[in]	nonSafeState	New dwVehicleIONonSafetyState which contains potentially new information for radar consumption
[in]	actuationFeedback	New dwVehicleIOActuationFeedback which contains potentially new information for radar consumption
[in]	obj	RadarDopplerMotion handle.

Returns

DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type.
DW_SUCCESS - If vehicle state has been passed to radar successfully.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwRadarDopplerMotion_getCUDAStream()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_getCUDAStream	(	cudaStream_t *	stream,
		dwRadarDopplerMotionHandle_t	obj
	)

Gets CUDA stream used by the radar Doppler motion.

Parameters

[out]	stream	The CUDA stream currently used.
[in]	obj	RadarDopplerMotion handle.

Returns

DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type.
DW_INVALID_ARGUMENT - If given stream is invalid.
DW_SUCCESS - If the stream has been retrieved successfully.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwRadarDopplerMotion_getDefaultParams()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_getDefaultParams

(

dwRadarDopplerMotionParams *

params

)

Get the default Radar Doppler motion parameters.

Parameters

[out]

params

Pointer to initialization params.

Returns

DW_INVALID_ARGUMENT - If params is NULL.
DW_SUCCESS - If the parameters have been retrieved successfully.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwRadarDopplerMotion_getMotion()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_getMotion	(	dwRadarDopplerMotion *	motion,
		dwRadarDopplerMotionHandle_t	obj
	)

Gets the available radar motion estimation result.

Parameters

[out]	motion	A pointer to the last estimated motion.
[in]	obj	- RadarDopplerMotion handle.

Returns

DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type.
DW_INVALID_ARGUMENT - If given solution is invalid.
DW_NOT_AVAILABLE - If currently no solution is available, i.e. no call to dwRadarDopplerMotion_processAsync() was performed.
DW_SUCCESS - If the latest motion estimation result has been retrieved successfully.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwRadarDopplerMotion_initialize()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_initialize	(	dwRadarDopplerMotionHandle_t *	obj,
		const dwRadarDopplerMotionParams *	params,
		cudaStream_t	stream,
		dwContextHandle_t	ctx
	)

Creates and initializes a GPU-based radar motion estimation module.

Parameters

[out]	obj	- A pointer to the radar Doppler motion handle.
[in]	params	- The parameters to initialize the radar Doppler motion module.
[in]	stream	- The CUDA stream to use for CUDA operations of the radar motion estimator.
[in]	ctx	- Specifies the handler to the context to create radar Doppler motion.

Returns

DW_INVALID_HANDLE - If the provided context handle is invalid.
DW_INVALID_ARGUMENT - If the provided doppler motion handle is invalid.
DW_SUCCESS - If the estimator has been initialized successfully.

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwRadarDopplerMotion_processAsync()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_processAsync	(	const dwRadarScan *	radarScan,
		dwRadarDopplerMotionHandle_t	obj
	)

Process the dwRadarScan and compute the radar motion.

Parameters

[in]	radarScan	- dwRadarScan to compute motion for.
[in]	obj	- RadarDopplerMotion handle.

Note

Before calling this API, dwRadarDopplerMotion_addVehicleIOState must be called first.

Returns

DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type.
DW_INVALID_ARGUMENT - If given radarScan is invalid.
DW_NOT_READY - If radarScan doesn't contain enough information to be processed.
DW_SUCCESS - If the async. processing has been launched successfully.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwRadarDopplerMotion_release()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_release

(

dwRadarDopplerMotionHandle_t

obj

)

Releases the radar Doppler motion module.

Parameters

[in]

obj

A handle to the doppler motion object.

Returns

DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type.
DW_SUCCESS - If the module has been released successfully.

API Group

• Init: Yes
• Runtime: No
• De-Init: Yes

dwRadarDopplerMotion_reset()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_reset

(

dwRadarDopplerMotionHandle_t

obj

)

Resets the radar Doppler motion module.

Parameters

[in]

obj

A handle to the doppler motion object.

Returns

DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type.
DW_SUCCESS - If the module has been reset successfully.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwRadarDopplerMotion_setCUDAStream()

DW_API_PUBLIC dwStatus dwRadarDopplerMotion_setCUDAStream	(	cudaStream_t	stream,
		dwRadarDopplerMotionHandle_t	obj
	)

Sets the CUDA stream for CUDA related operations.

Note

The ownership of the stream remains by the callee.

Parameters

[in]	stream	The CUDA stream to be used. Default is the one passed during initialization.
[in]	obj	RadarDopplerMotion handle.

Returns

DW_INVALID_HANDLE - If the given object handle is invalid, null or of wrong type.
DW_SUCCESS - If the CUDA stream has been set successfully.

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes