Rig Configuration Interface

Detailed Description

Defines rig configurations for the vehicle.

Defines vehicle parameters.

Data Structures
struct	dwGenericVehicle
	Vehicle description. More...
struct	dwVehicle
	DEPRECATED: Properties of a passenger car vehicle. More...
struct	dwVehicleActuationProperties
	Vehicle actuation properties. More...
struct	dwVehicleArticulationProperties
	Properties of an articulation linking two vehicle units. More...
struct	dwVehicleAxleProperties
	Properties of an axle and its wheels. More...
struct	dwVehicleBodyProperties
	Physical properties of a vehicle body. More...
struct	dwVehicleCabin
	Vehicle cabin description. More...
struct	dwVehicleDynamicsProperties
	Dynamics properties. More...
struct	dwVehicleSuspensionProperties
	Suspension properties. More...
struct	dwVehicleTorqueLUT
	Throttle and brake state (input) to longitudinal force (output) lookup tables. More...
struct	dwVehicleTrailer
	Vehicle trailer description. More...
struct	dwVehicleWheelEncoderProperties
	Wheel encoder parameters. More...

Modules
	Rig Configuration
	Defines vehicle rig configuration.

Macros
#define	DW_VEHICLE_MAX_NUM_TRAILERS   1U
#define	DW_VEHICLE_STEER_MAP_POLY_DEGREE   5U
#define	DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE   (DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1U)
#define	DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE   15U

Typedefs
typedef struct dwRigObject const *	dwConstRigHandle_t
	Handle representing the const Rig interface. More...
typedef struct dwRigObject *	dwRigHandle_t
	Handle representing the Rig interface. More...

Enumerations
enum	dwVehicleTrailerType {   DW_VEHICLE_TRAILER_TYPE_FULL = 0 ,   DW_VEHICLE_TRAILER_TYPE_SEMI = 1 }
	Supported trailer types. More...
enum	dwVehicleWheels {   DW_VEHICLE_WHEEL_FRONT_LEFT = 0 ,   DW_VEHICLE_WHEEL_FRONT_RIGHT = 1 ,   DW_VEHICLE_WHEEL_REAR_LEFT = 2 ,   DW_VEHICLE_WHEEL_REAR_RIGHT = 3 ,   DW_VEHICLE_NUM_WHEELS = 4 }
	Define index for each of the wheels on a 4 wheeled vehicle. More...

Functions
DW_API_PUBLIC dwStatus	dwRig_addOrSetPropertyByName (char8_t const *const propertyValue, char8_t const *const propertyName, dwRigHandle_t const obj)
	Overwrite content of an existing rig property. More...
DW_API_PUBLIC dwStatus	dwRig_addOrSetSensorPropertyByName (char8_t const *const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwRigHandle_t const obj)
	Overwrite content of an existing sensor property. More...
DW_API_PUBLIC dwStatus	dwRig_findSensorByName (uint32_t *const sensorId, char8_t const *const sensorName, dwConstRigHandle_t const obj)
	Finds the sensor with the given name and returns its index. More...
DW_API_PUBLIC dwStatus	dwRig_findSensorByTypeIndex (uint32_t *const sensorId, dwSensorType const sensorType, uint32_t const sensorTypeIndex, dwConstRigHandle_t const obj)
	Finds the absolute sensor index of the Nth sensor of a given type. More...
DW_API_PUBLIC dwStatus	dwRig_findSensorIdFromVehicleIOId (uint32_t *const sensorId, uint32_t const vehicleIOId, dwConstRigHandle_t const obj)
	Finds a sensor with the given vehicleIO ID and returns the index. More...
DW_API_PUBLIC dwStatus	dwRig_getCameraModel (dwCameraModel *const cameraModel, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the model type of the camera intrinsics. More...
DW_API_PUBLIC dwStatus	dwRig_getCameraTimestampPath (char8_t const **const timestampPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets path to camera timestamp file. More...
DW_API_PUBLIC dwStatus	dwRig_getFThetaCameraConfig (dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the FTheta camera model. More...
DW_API_PUBLIC dwStatus	dwRig_getFThetaCameraConfigNew (dwFThetaCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the FTheta camera model. More...
DW_API_PUBLIC dwStatus	dwRig_getGenericVehicle (dwGenericVehicle *const vehicle, dwConstRigHandle_t const obj)
	Gets the properties of a generic vehicle (car or truck). More...
DW_API_PUBLIC dwStatus	dwRig_getNominalSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the nominal sensor to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getNominalSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
	Gets the nominal sensor to sensor transformation for a pair of sensors. More...
DW_API_PUBLIC dwStatus	dwRig_getPinholeCameraConfig (dwPinholeCameraConfig *const config, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameters of the Pinhole camera model. More...
DW_API_PUBLIC dwStatus	dwRig_getPropertyByName (char8_t const **const propertyValue, char8_t const *const propertyName, dwConstRigHandle_t const obj)
	Returns property stored inside of rig. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorCount (uint32_t *const sensorCount, dwConstRigHandle_t const obj)
	Gets the number of all available sensors. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorCountOfType (uint32_t *const sensorCount, dwSensorType const sensorType, dwConstRigHandle_t const obj)
	Find number of sensors of a given type. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorDataPath (char8_t const **const dataPath, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets path to sensor recording. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorFLUToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the sensor FLU to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorName (char8_t const **const sensorName, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the name of a sensor as given in the configuration. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorParameter (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameter string for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorParameterUpdatedPath (char8_t const **const sensorParameter, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the parameter string for a sensor with any path described by file=,video=,timestamp= property modified to be in respect to the current rig file's directory (if initializing a rig from file), or in respect to the relativeBasePath (when initializing a rig from string). More...
DW_API_PUBLIC dwStatus	dwRig_getSensorPropertyByName (char8_t const **const propertyValue, char8_t const *const propertyName, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Returns property stored inside of a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorProtocol (char8_t const **const sensorProtocol, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the protocol string of a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorToRigTransformation (dwTransformation3f *const transformation, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Gets the sensor to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorToSensorTransformation (dwTransformation3f *const transformation, uint32_t const sensorIdFrom, uint32_t const sensorIdTo, dwConstRigHandle_t const obj)
	Gets the sensor to sensor transformation for a pair of sensors. More...
DW_API_PUBLIC dwStatus	dwRig_getSensorType (dwSensorType *const sensorType, uint32_t const sensorId, dwConstRigHandle_t const obj)
	Returns the type of sensor based upon the sensorID sent into the method. More...
DW_API_PUBLIC dwStatus	dwRig_getVehicle (dwVehicle const **const vehicle, dwConstRigHandle_t const obj)
	DEPRECATED: Gets the properties of a passenger car vehicle. More...
DW_API_PUBLIC dwStatus	dwRig_getVehicleIOConfigCount (uint32_t *const vioConfigCount, dwConstRigHandle_t const obj)
	Gets the number of vehicle IO sensors. More...
DW_API_PUBLIC dwStatus	dwRig_initializeFromFile (dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationFile)
	Initializes the Rig Configuration module from a file. More...
DW_API_PUBLIC dwStatus	dwRig_initializeFromString (dwRigHandle_t *const obj, dwContextHandle_t const ctx, char8_t const *const configurationString, char8_t const *const relativeBasePath)
	Initializes the Rig Configuration module from a string. More...
DW_API_PUBLIC dwStatus	dwRig_release (dwRigHandle_t const obj)
	Releases the Rig Configuration module. More...
DW_API_PUBLIC dwStatus	dwRig_reset (dwRigHandle_t const obj)
	Resets the Rig Configuration module. More...
DW_API_PUBLIC dwStatus	dwRig_serializeToFile (char8_t const *const configurationFile, dwConstRigHandle_t const obj)
	This method serializes the rig-configuration object to a human-readable rig-configuration file. More...
DW_API_PUBLIC dwStatus	dwRig_setFThetaCameraConfig (dwFThetaCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameters of the FTheta camera model. More...
DW_API_PUBLIC dwStatus	dwRig_setGenericVehicle (dwGenericVehicle const *const vehicle, dwRigHandle_t const obj)
	Sets the properties of a generic vehicle (car or truck). More...
DW_API_PUBLIC dwStatus	dwRig_setPinholeCameraConfig (dwPinholeCameraConfig const *const config, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameters of the pinhole camera model. More...
DW_API_PUBLIC dwStatus	dwRig_setSensorParameter (char8_t const *const sensorParameter, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the parameter string for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_setSensorToRigTransformation (dwTransformation3f const *const transformation, uint32_t const sensorId, dwRigHandle_t const obj)
	Sets the sensor to rig transformation for a sensor. More...
DW_API_PUBLIC dwStatus	dwRig_setVehicle (dwVehicle const *const vehicle, dwRigHandle_t const obj)
	DEPRECATED: Sets the properties of a passenger car vehicle. More...

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Data Structure Documentation

dwGenericVehicle

struct dwGenericVehicle

Data Fields
dwVehicleActuationProperties	actuation	Vehicle actuation properties.
dwVehicleAxleProperties	axleFront	Properties of the front (steering) axle [m].
dwVehicleAxleProperties	axleRear	Properties of the rear axle group [m]. Multiple rear axles are lumped together in an equivalent virtual rear axle, in which case its properties shall be consistent with corresponding vehicle data such as wheel speed.
dwVehicleBodyProperties	body	Properties of the base body (passenger car body, truck tractor chassis)
dwVehicleCabin	cabin	Properties of an optional floating cabin attached to the base body. Applies only to vehicles with a suspended cabin (e.g. trucks).
dwVehicleDynamicsProperties	dynamics	Vehicle dynamics properties.
bool	hasCabin	Indicates presence of a cabin.
uint32_t	numTrailers	Stores the occupied/valid length of trailers.
dwVehicleSuspensionProperties	suspension	Vehicle suspension properties.
dwVehicleTrailer	trailers[DW_VEHICLE_MAX_NUM_TRAILERS]	Properties of trailer units. Applicable only to vehicles with trailer units (e.g. trucks).
dwVehicleWheelEncoderProperties	wheelEncoder	Wheel encoder properties.

dwVehicle

struct dwVehicle

Data Fields
float32_t	aerodynamicDragCoeff	Aerodynamic drag coefficient. Deprecated: Will be removed, unused
float32_t	aeroHeight	Equivalent height of aerodynamic force applied (m). Deprecated: Will be removed, unused
float32_t	axlebaseFront	Width of the front axle. [meters].
float32_t	axlebaseRear	Width of the rear axle. [meters].
float32_t	brakeActuatorTimeConstant	Time constant for first order lp brake system.
float32_t	bumperFront	Distance front axle to front bumper. [meters].
float32_t	bumperRear	Distance rear axle to rear bumper. [meters].
float32_t	centerOfMassHeight	Height of the CoM (m).
float32_t	centerOfMassToFrontAxle	Distance from CoM to the front axle (m).
float32_t	centerOfMassToRearAxle	Distance between vehicle's CoM (center-of-mass) and center of the rear axle. [meters].
float32_t	driveByWireTimeConstant	Drive-by-wire (steer-by-wire) time constant. [s].
float32_t	driveByWireTimeDelay	Drive-by-wire (steer-by-wire) time delay. [s].
float32_t	effectiveMass	effective mass due to vehicle rotational inertia (wheel rotation, engine, and other parts of the CVT drive-train). [kg]
float32_t	frontalArea	Vehicle Frontal area (m^2). Deprecated: Will be removed, unused
float32_t	frontCorneringStiffness	front wheel cornering stiffness.
float32_t	frontSteeringOffset	front wheel steering offset [radians]. It is combined with the polynomial function P(steeringWheelAngle) give by steeringWheelToSteeringMap to determine the conversion from steering wheel angle to steering angle as steeringAngle = P(steeringWheelAngle) + frontSteeringOffset and its reverse.
float32_t	height	Height of the vehicle. [meters].
dwVector3f	inertia3D	vehicle inertia around each axis, w.r.t. its center of mass. [kg m^2]
float32_t	length	Length of the vehicle. [meters].
float32_t	mass	vehicle mass [kg].
float32_t	maxEnginePower	Maximum engine power in Watts. Deprecated: Will be removed, unused
float32_t	maxSteeringWheelAngle	maximum steering wheel [radians]
float32_t	rearCorneringStiffness	rear wheel cornering stiffness.
float32_t	rollingResistanceCoeff	Rolling resistance coefficient. Deprecated: Will be removed, unused
float32_t	steeringCoefficient	Steering coefficient for trivial linear mapping between steering wheel and steering angle, i.e. steeringAngle = steeringWheelAngle / steeringCoefficient.
float32_t	steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE]	polynomial coefficents of steering wheel angle to steering angle as given in c0 + c1*x + c2*x^2 + ... + cn*x^n. If not 0, then these have precedence over steeringCoefficient
float32_t	throttleActuatorTimeConstant	Time constant for first order lp throttle system.
dwVehicleTorqueLUT	torqueLUT	Lookup table mapping throttle and brake pedal position to torque.
float32_t	wheelbase	Distance between the centers of the front and rear wheels. [meters].
float32_t	wheelRadius[DW_VEHICLE_NUM_WHEELS]	Radius of each individual wheel [m].
float32_t	width	Width of the vehicle, without side mirrors. [meters].
float32_t	widthWithMirrors	Width of the vehicle including side mirrors. [meters].

dwVehicleActuationProperties

struct dwVehicleActuationProperties

Data Fields
float32_t	accelerationTimeConstant_s	Time constant for first order + time delay acceleration system. Note unit s
float32_t	accelerationTimeDelay_s	Time delay for first order + time delay acceleration system. Note unit s
float32_t	brakeActuatorTimeConstant	Time constant for first order + time delay brake system [s]. Deprecated: brakeActuatorTimeConstant is deprecated, please use decelerationTimeConstant_s instead.
float32_t	brakeActuatorTimeDelay	Time delay for first order + time delay brake system [s]. Deprecated: brakeActuatorTimeDelay is deprecated, please use decelerationTimeDelay_s instead.
float32_t	curvatureTimeConstant_s	Time constant for first order + time delay curvature steering interface. Note unit s
float32_t	curvatureTimeDelay_s	Time delay for first order + time delay curvature steering interface. Note unit s
float32_t	decelerationTimeConstant_s	Time constant for first order + time delay deceleration system. Note unit s
float32_t	decelerationTimeDelay_s	Time delay for first order + time delay deceleration system. Note unit s
float32_t	driveByWireDampingRatio	Damping ratio for second order + time delay drive-by-wire / steer-by-wire [unitless]. Deprecated: driveByWireDampingRatio is deprecated
float32_t	driveByWireNaturalFrequency	Natural frequency for second order + time delay drive-by-wire / steer-by-wire [hz]. Deprecated: driveByWireNaturalFrequency is deprecated
float32_t	driveByWireTimeConstant	Time constant for first order + time delay drive-by-wire / steer-by-wire [s]. Deprecated: driveByWireTimeConstant is deprecated, please use frontWheelAngleTimeConstant_s instead.
float32_t	driveByWireTimeDelay	Time delay for first order + time delay drive-by-wire / steer-by-wire [s]. Deprecated: driveByWireTimeDelay is deprecated, please use frontWheelAngleTimeDelay_s instead.
float32_t	effectiveMass	Effective mass due to rotational inertia (wheel, engine, and other parts of the CVT drivetrain) [kg].
float32_t	frontWheelAngleTimeConstant_s	Time constant for first order + time delay system for front wheel angle. Note unit s
float32_t	frontWheelAngleTimeDelay_s	Time delay for first order + time delay system for front wheel angle. Note unit s
bool	isDriveByWireSecondOrder	Indicates whether the drive-by-wire / steer-by-wire is second-order or not. Deprecated: driveByWireSecondOrder is deprecated
float32_t	maxSteeringWheelAngle	Maximum steering wheel angle [rad].
float32_t	rearWheelAngleTimeConstant_s	Time constant for first order + time delay system for rear wheel angle. Note unit s
float32_t	rearWheelAngleTimeDelay_s	Time delay for first order + time delay system for rear wheel angle. Note unit s
float32_t	steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE]	Polynomial relating steering wheel angle [rad] to steering angle [rad]. Coefficients ordered in array by increasing power, where first element is constant term (steering offset)
float32_t	throttleActuatorTimeConstant	Time constant for first order + time delay throttle system [s]. Deprecated: throttleActuatorTimeConstant is deprecated, please use accelerationTimeConstant_s instead.
float32_t	throttleActuatorTimeDelay	Time delay for first order + time delay throttle system [s]. Deprecated: throttleActuatorTimeDelay is deprecated, please use accelerationTimeDelay_s instead.
dwVehicleTorqueLUT	torqueLUT	Torque lookup tables.

dwVehicleArticulationProperties

struct dwVehicleArticulationProperties

Data Fields
dwVector3f	leadingVehicleHingePosition	Position of leading vehicle hinge attach point in leading vehicle coordinate system (DW_COORDINATE_SYSTEM_VEHICLE_BASE or, if multiple trailer units DW_COORDINATE_SYSTEM_VEHICLE_TRAILER) [m].
dwVector3f	trailingVehicleHingePosition	Position of trailing vehicle hinge attach point in trailer coordinate system (DW_COORDINATE_SYSTEM_VEHICLE_TRAILER) [m].

dwVehicleAxleProperties

struct dwVehicleAxleProperties

Data Fields
float32_t	corneringStiffness	Cornering stiffness for a single tire [N/rad].
float32_t	nominalWheelRadiusLeft	Nominal value of radius of left wheel, when facing towards the forward direction of the vehicle. Note unit m
float32_t	nominalWheelRadiusRight	Nominal value of radius of right wheel, when facing towards the forward direction of the vehicle. Note unit m
float32_t	position	Position of axle midpoint along X-axis in corresponding vehicle coordinate system (DW_COORDINATE_SYSTEM_VEHICLE_BASE or DW_COORDINATE_SYSTEM_VEHICLE_TRAILER) [m].
float32_t	track	Width of the axle, measured between center line of wheels [m].
float32_t	wheelRadiusLeft	Radius of left wheel, when facing towards the forward direction of the vehicle [m].
float32_t	wheelRadiusRight	Radius of right wheel, when facing towards the forward direction of the vehicle [m].

dwVehicleBodyProperties

struct dwVehicleBodyProperties

Data Fields
dwVector3f	boundingBoxPosition	Position of bounding box origin in body coordinate system [m]. Note bounding box origin is midpoint of rear bottom edge. The bounding box includes side mirrors and wheel geometry, if applicable. Measurements taken at nominal load.
dwVector3f	centerOfMass	Position of center of mass in body coordinate system [m]. Note Center of mass including unsprung mass (suspension, wheels), if applicable. Measurements taken at nominal load.
float32_t	height	Height of the bounding box (vertical dimension, along Z) [m].
dwVector3f	inertia	Principal moments of inertia with respect to center of mass [kg m^2]. Note Inertia including unsprung mass (suspension, wheels), if applicable. Measurements taken at nominal load.
float32_t	length	Length of the bounding box (longitudinal dimension, along X) [m].
float32_t	mass	Mass [kg]. Note Mass including unsprung mass (suspension, wheels), if applicable. Measurements taken at nominal load.
float32_t	rearAxleToAPillar	Distance from rear axle to A pillar [m]. Note Positive means in front of , negative behind rear axle
float32_t	rearAxleToBPillar	Distance from rear axle to B pillar [m]. Note Positive means in front of , negative behind rear axle
float32_t	rearAxleToCPillar	Distance from rear axle to C pillar [m]. Note Positive means in front of , negative behind rear axle
float32_t	width	Width of the bounding box (lateral dimension, along Y) [m].
float32_t	widthWithoutMirrors	Width of the body without any side-mirrors, if applicable, otherwise same as width.

dwVehicleCabin

struct dwVehicleCabin

Data Fields
dwVehicleBodyProperties	body	Properties of the cabin body.

dwVehicleDynamicsProperties

struct dwVehicleDynamicsProperties

Data Fields
float32_t	sideSlipAngleGradient	Side slip angle gradient relating lateral acceleration to side slip angle. [rad s^2 / m] A positive side slip angle gradient indicates the vehicle slips to the outside of the curve.
float32_t	understeerAngleGradient	Understeer angle gradient relating lateral acceleration to steering angle deviation. [rad s^2 / m] The understeer angle is the difference between the the actual on-road wheel angle and the steering angle of the bicycle model that follows the effective vehicle trajectory. A positive value indicates the vehicle steers to the outside of the curve.

dwVehicleSuspensionProperties

struct dwVehicleSuspensionProperties

Data Fields
float32_t	pitchAngleGradientAccel	Suspension pitch angle gradient during acceleration. [deg s^2 / m].
float32_t	pitchAngleGradientBrake	Suspension pitch angle gradient during braking. [deg s^2 / m].
dwTransformation3f	rearAxleToRoadLevelCurbMass	Transformation of the ISO23150 vehicle rear-axle coordinate system to the ISO23150 vehicle road-level coordinate system under a load as specified by the curb mass.
dwTransformation3f	rearAxleToRoadLevelDesignMass	Transformation of the ISO23150 vehicle rear-axle coordinate system to the ISO23150 vehicle road-level coordinate system under a load as specified by the design mass.
float32_t	rollAngleGradient	Suspension roll angle gradient. [deg s^2 / m].

dwVehicleTorqueLUT

struct dwVehicleTorqueLUT

Data Fields
float32_t	brakePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]	1-d array of range of brake pedal values (Brake Look-up Table Input)
float32_t	brakeTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]	1-d torque Table, mapping a given brake pedal position to a torque value (Brake Look-up Table Output)
float32_t	throttlePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]	1-d array of range of throttle pedal values (Throttle Look-up Table Input)
float32_t	throttleSpeedInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]	1-d array of range of vehicle linear speed values (Throttle Look-up Table Input) [m/s]
float32_t	throttleTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE][DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE]	2-d torque table, mapping a given throttle pedal position at a given speed to a torque value (Throttle Look-up Table Output) The 2d table is represented in row-major matrix with speed varying over the columns, and pedal input over rows, i.e. throttleTorqueOutput(pedal, speed) = throttleTorqueOutput[pedal][speed]

dwVehicleTrailer

struct dwVehicleTrailer

Data Fields
dwVehicleArticulationProperties	articulation	Articulation linking trailer to leading vehicle unit.
dwVehicleAxleProperties	axleFront	Properties of the front (steering) axle [m].
dwVehicleAxleProperties	axleRear	Properties of the rear axle group [m]. Multiple rear axles are lumped together in an equivalent virtual rear axle, in which case its properties shall be consistent with corresponding vehicle data such as wheel speed.
dwVehicleBodyProperties	body	Properties of the trailer body.
dwVehicleTrailerType	type	Trailer type, either full or semi, indicates presence of front axle.

dwVehicleWheelEncoderProperties

struct dwVehicleWheelEncoderProperties

Data Fields
float32_t	speedQuantization	Wheel speed quantization. Must be provided if wheel speed signal is quantized with rounding-down operation (floor). [rad/s]
int32_t	ticksCountInvalid	Invalid tick count, optional value provided by vehicle in case of error, must be outside of [ticksCountMin, ticksCountMax] range. [-]
int32_t	ticksCountMax	Number above which counter rolls over. [-].
int32_t	ticksCountMin	Number below which counter rolls under. [-].
int32_t	ticksPerTurn	Ticks per wheel turn. [-].

Macro Definition Documentation

DW_VEHICLE_MAX_NUM_TRAILERS

#define DW_VEHICLE_MAX_NUM_TRAILERS   1U

Definition at line 59 of file Vehicle.h.

DW_VEHICLE_STEER_MAP_POLY_DEGREE

#define DW_VEHICLE_STEER_MAP_POLY_DEGREE   5U

Definition at line 57 of file Vehicle.h.

DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE

#define DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE   (DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1U)

Definition at line 58 of file Vehicle.h.

DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE

#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE   15U

Definition at line 60 of file Vehicle.h.

Typedef Documentation

dwConstRigHandle_t

typedef struct dwRigObject const* dwConstRigHandle_t

Handle representing the const Rig interface.

Definition at line 74 of file Rig.h.

dwRigHandle_t

typedef struct dwRigObject* dwRigHandle_t

Handle representing the Rig interface.

Definition at line 72 of file Rig.h.

Enumeration Type Documentation

dwVehicleTrailerType

enum dwVehicleTrailerType

Supported trailer types.

Enumerator
DW_VEHICLE_TRAILER_TYPE_FULL
DW_VEHICLE_TRAILER_TYPE_SEMI	Trailer that has both front and rear axles.

Definition at line 63 of file Vehicle.h.

dwVehicleWheels

enum dwVehicleWheels

Define index for each of the wheels on a 4 wheeled vehicle.

These indices are to be used to point into dwVehicleIOState or dwVehicle.

Enumerator
DW_VEHICLE_WHEEL_FRONT_LEFT
DW_VEHICLE_WHEEL_FRONT_RIGHT
DW_VEHICLE_WHEEL_REAR_LEFT
DW_VEHICLE_WHEEL_REAR_RIGHT
DW_VEHICLE_NUM_WHEELS	Number of wheels describing the vehicle.

Definition at line 70 of file Vehicle.h.

Function Documentation

dwRig_addOrSetPropertyByName()

DW_API_PUBLIC dwStatus dwRig_addOrSetPropertyByName	(	char8_t const *const	propertyValue,
		char8_t const *const	propertyName,
		dwRigHandle_t const	obj
	)

Overwrite content of an existing rig property.

If property does not exists, it will be added. Properties are stored as name=value pairs.

Parameters

[in]	propertyValue	Value of the property to be changed to. Maximal length limited to 256 characters.
[in]	propertyName	Name of the property to change
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_BUFFER_FULL	when there are no more space for new properties, max 32
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_addOrSetSensorPropertyByName()

DW_API_PUBLIC dwStatus dwRig_addOrSetSensorPropertyByName	(	char8_t const *const	propertyValue,
		char8_t const *const	propertyName,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Overwrite content of an existing sensor property.

If property does not exists, it will be added. Properties are stored as name=value pairs.

Parameters

[in]	propertyValue	Value of the property to be changed to. Maximal length limited to 512 characters.
[in]	propertyName	Name of the property to change
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null or sensorId doesn't exist
DW_BUFFER_FULL	when there are no more space for new properties, max 32
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_findSensorByName()

DW_API_PUBLIC dwStatus dwRig_findSensorByName	(	uint32_t *const	sensorId,
		char8_t const *const	sensorName,
		dwConstRigHandle_t const	obj
	)

Finds the sensor with the given name and returns its index.

Parameters

[out]	sensorId	The index of the matching sensor (unchanged if the function fails).
[in]	sensorName	The sensor name to search for. If the character '*' is found, only the characters before are compared for a match.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when no sensor matches the name
DW_INVALID_HANDLE	when the rig configuration module handle is invalid, i.e NULL or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_findSensorByTypeIndex()

DW_API_PUBLIC dwStatus dwRig_findSensorByTypeIndex	(	uint32_t *const	sensorId,
		dwSensorType const	sensorType,
		uint32_t const	sensorTypeIndex,
		dwConstRigHandle_t const	obj
	)

Finds the absolute sensor index of the Nth sensor of a given type.

Parameters

[out]	sensorId	The index of the matching sensor (unchanged if the function fails).
[in]	sensorType	The type of the sensor to search for.
[in]	sensorTypeIndex	The idx of the sensor within that type.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when no sensor matches the type
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_findSensorIdFromVehicleIOId()

DW_API_PUBLIC dwStatus dwRig_findSensorIdFromVehicleIOId	(	uint32_t *const	sensorId,
		uint32_t const	vehicleIOId,
		dwConstRigHandle_t const	obj
	)

Finds a sensor with the given vehicleIO ID and returns the index.

Parameters

[out]	sensorId	The Specifies the index of the matching sensor. Undefined if the function fails.
[in]	vehicleIOId	The vehicleIO ID to search for.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when no sensor matches the vehicle IO ID
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getCameraModel()

DW_API_PUBLIC dwStatus dwRig_getCameraModel	(	dwCameraModel *const	cameraModel,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the model type of the camera intrinsics.

The supported models are OCam, Pinhole, and FTheta.

Parameters

[out]	cameraModel	A pointer to the model type for the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to the model type is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getCameraTimestampPath()

DW_API_PUBLIC dwStatus dwRig_getCameraTimestampPath	(	char8_t const **const	timestampPath,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets path to camera timestamp file.

The call is only relevant for virtual h264/h265 cameras. Otherwise returned value is always nullptr.

Parameters

[out]	timestampPath	A pointer to the path containing timestamp data.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getFThetaCameraConfig()

DW_API_PUBLIC dwStatus dwRig_getFThetaCameraConfig	(	dwFThetaCameraConfig *const	config,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameters of the FTheta camera model.

Note

This method clears the data passed in config in order to check if data was set.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getFThetaCameraConfigNew()

DW_API_PUBLIC dwStatus dwRig_getFThetaCameraConfigNew	(	dwFThetaCameraConfig *const	config,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameters of the FTheta camera model.

Note

This method clears the data passed in config in order to check if data was set.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getGenericVehicle()

DW_API_PUBLIC dwStatus dwRig_getGenericVehicle	(	dwGenericVehicle *const	vehicle,
		dwConstRigHandle_t const	obj
	)

Gets the properties of a generic vehicle (car or truck).

Parameters

[out]	vehicle	A pointer to the struct to be filled with vehicle properties.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when no generic vehicle in configuration is available
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getNominalSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwRig_getNominalSensorToRigTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the nominal sensor to rig transformation for a sensor.

This transform differs from transform T provided by getSensorToRigTransformation() in that it represents a static reference transformation from factory calibration and/or mechanical drawings, whereas T can change over time. Also, if the sensor's type doesn't support extrinsics, the identity transformation will be returned.

Parameters

[out]	transformation	A pointer to the nominal transformation from sensor to rig coordinate system.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getNominalSensorToSensorTransformation()

DW_API_PUBLIC dwStatus dwRig_getNominalSensorToSensorTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorIdFrom,
		uint32_t const	sensorIdTo,
		dwConstRigHandle_t const	obj
	)

Gets the nominal sensor to sensor transformation for a pair of sensors.

This transform differs from transform T provided by getSensorToSensorTransformation() in that it represents a static reference transformation from factory calibration and/or mechanical drawings, whereas T can change over time. Identity transformations are used for sensors that don't support a native extrinsic frame.

Parameters

[out]	transformation	A pointer to the nominal transformation from sensor to sensor coordinate system.
[in]	sensorIdFrom	Specifies the index of the source sensor.
[in]	sensorIdTo	Specifies the index of the destination sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getPinholeCameraConfig()

DW_API_PUBLIC dwStatus dwRig_getPinholeCameraConfig	(	dwPinholeCameraConfig *const	config,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameters of the Pinhole camera model.

Parameters

[out]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getPropertyByName()

DW_API_PUBLIC dwStatus dwRig_getPropertyByName	(	char8_t const **const	propertyValue,
		char8_t const *const	propertyName,
		dwConstRigHandle_t const	obj
	)

Returns property stored inside of rig.

Properties are stored in name=value pairs and implement properties which are specific for the rig in a generic way. For example a particular sensor layout or configuration

Parameters

[out]	propertyValue	A pointer to return the value of a certain property
[in]	propertyName	Name of the property to retrieve value from
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when a certain property is not available in the rig configration
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorCount()

DW_API_PUBLIC dwStatus dwRig_getSensorCount	(	uint32_t *const	sensorCount,
		dwConstRigHandle_t const	obj
	)

Gets the number of all available sensors.

Parameters

[out]	sensorCount	A pointer to the number of sensors in the rig configuration.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorCountOfType()

DW_API_PUBLIC dwStatus dwRig_getSensorCountOfType	(	uint32_t *const	sensorCount,
		dwSensorType const	sensorType,
		dwConstRigHandle_t const	obj
	)

Find number of sensors of a given type.

Parameters

[out]	sensorCount	Return number of sensors available of the given type
[in]	sensorType	Type of the sensor to query
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	`given pointer is null
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorDataPath()

DW_API_PUBLIC dwStatus dwRig_getSensorDataPath	(	char8_t const **const	dataPath,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets path to sensor recording.

The call is only valid for virtual sensors.

Parameters

[out]	dataPath	A pointer to the path with sensor data. The pointer is valid until module reset or release is called.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null
DW_NOT_AVAILABLE	when data path for the given sensor is not available
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorFLUToRigTransformation()

DW_API_PUBLIC dwStatus dwRig_getSensorFLUToRigTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the sensor FLU to rig transformation for a sensor.

This transformation relates the sensor FLU and the rig coordinate system to each other. For example, the origin in sensor coordinate system is the position of the sensor in rig coordinates.

Parameters

[out]	transformation	A pointer to the transformation from sensor to rig coordinate system.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorName()

DW_API_PUBLIC dwStatus dwRig_getSensorName	(	char8_t const **const	sensorName,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the name of a sensor as given in the configuration.

For example, "Front Camera".

Parameters

[out]	sensorName	A pointer to the name of the sensor. The pointer is valid until module reset or release is called.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the sensor pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorParameter()

DW_API_PUBLIC dwStatus dwRig_getSensorParameter	(	char8_t const **const	sensorParameter,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameter string for a sensor.

This string can be used in sensor creation.

Parameters

[out]	sensorParameter	A pointer to the pointer to the parameters of the sensor, for example camera driver and csi port. The returned pointer is valid until module reset or release is called.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to the pointer of sensor parameters is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorParameterUpdatedPath()

DW_API_PUBLIC dwStatus dwRig_getSensorParameterUpdatedPath	(	char8_t const **const	sensorParameter,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the parameter string for a sensor with any path described by file=,video=,timestamp= property modified to be in respect to the current rig file's directory (if initializing a rig from file), or in respect to the relativeBasePath (when initializing a rig from string).

For example, given a rig.json file stored at this/is/rig.json with a virtual sensor pointing to file=video.lraw, the call to this function will return sensor properties modified as file=this/is/video.lraw.

Parameters

[out]	sensorParameter	Sensor parameters with modified path inside of file=,video=,timestamp= returned here.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to the pointer of sensor parameters is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorPropertyByName()

DW_API_PUBLIC dwStatus dwRig_getSensorPropertyByName	(	char8_t const **const	propertyValue,
		char8_t const *const	propertyName,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Returns property stored inside of a sensor.

Properties are stored in name=value pairs and implement properties which are specific for a certain sensor in a generic way. For example a camera might store calibration data there, an IMU might store bias values there, etc.

Parameters

[out]	propertyValue	A pointer to return the value of a certain property
[in]	propertyName	Name of the property to retrieve value from
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null or sensorId doesn't exist
DW_NOT_AVAILABLE	when a certain property is not available in the rig configuration
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorProtocol()

DW_API_PUBLIC dwStatus dwRig_getSensorProtocol	(	char8_t const **const	sensorProtocol,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the protocol string of a sensor.

This string can be used in sensor creation or to identify the type of a sensor.

Parameters

[out]	sensorProtocol	A pointer to the pointer to the protocol of the sensor, for example, camera.gmsl. The returned pointer is valid until module reset or release is called.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the pointer to the pointer of sensor protocol is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwRig_getSensorToRigTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Gets the sensor to rig transformation for a sensor.

This transformation relates the sensor and the rig coordinate system to each other. For example, the origin in sensor coordinate system is the position of the sensor in rig coordinates. Also, if the sensor's type doesn't support extrinsics, the identity transformation will be returned.

Parameters

[out]	transformation	A pointer to the transformation from sensor to rig coordinate system.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the queried sensor is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorToSensorTransformation()

DW_API_PUBLIC dwStatus dwRig_getSensorToSensorTransformation	(	dwTransformation3f *const	transformation,
		uint32_t const	sensorIdFrom,
		uint32_t const	sensorIdTo,
		dwConstRigHandle_t const	obj
	)

Gets the sensor to sensor transformation for a pair of sensors.

This transformation relates the first and second sensor coordinate systems to each other. Identity transformations are used for sensors that don't support a native extrinsic frame.

Parameters

[out]	transformation	A pointer to the transformation from sensor to sensor coordinate system.
[in]	sensorIdFrom	Specifies the index of the source sensor.
[in]	sensorIdTo	Specifies the index of the destination sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getSensorType()

DW_API_PUBLIC dwStatus dwRig_getSensorType	(	dwSensorType *const	sensorType,
		uint32_t const	sensorId,
		dwConstRigHandle_t const	obj
	)

Returns the type of sensor based upon the sensorID sent into the method.

Parameters

[out]	sensorType	A pointer to return the type of sensor
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when given pointer is null or sensorId doesn't exist
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getVehicle()

DW_API_PUBLIC dwStatus dwRig_getVehicle	(	dwVehicle const **const	vehicle,
		dwConstRigHandle_t const	obj
	)

DEPRECATED: Gets the properties of a passenger car vehicle.

Deprecated:

Use dwRig_getGenericVehicle.

Parameters

[out]	vehicle	A pointer to the struct holding vehicle properties. The returned pointer is valid until module reset or release is called.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when no vehicle in configuration is available
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_getVehicleIOConfigCount()

DW_API_PUBLIC dwStatus dwRig_getVehicleIOConfigCount	(	uint32_t *const	vioConfigCount,
		dwConstRigHandle_t const	obj
	)

Gets the number of vehicle IO sensors.

Parameters

[out]	vioConfigCount	A pointer to the number of vehicle IO sensors in the Rig Configuration.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_initializeFromFile()

DW_API_PUBLIC dwStatus dwRig_initializeFromFile	(	dwRigHandle_t *const	obj,
		dwContextHandle_t const	ctx,
		char8_t const *const	configurationFile
	)

Initializes the Rig Configuration module from a file.

Note

: Any relative file-system reference will be relative to the rig file location.

Parameters

[out]	obj	A pointer to the Rig Configuration handle for the created module.
[in]	ctx	Specifies the handler to the context under which the Rigconfiguration module is created.
[in]	configurationFile	The path of a rig file that contains the rig configuration. Typically produced by the DriveWorks calibration tool.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL or if the json file has no extension
DW_INVALID_HANDLE	when the context handle is invalid, i.e null or wrong type
DW_FILE_INVALID	when the json file is invalid
DW_FILE_NOT_FOUND	when the json file cannot be found
DW_INTERNAL_ERROR	when internal error happens
DW_BUFFER_FULL	when too many extrinsic profiles are available (> 3)
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_initializeFromString()

DW_API_PUBLIC dwStatus dwRig_initializeFromString	(	dwRigHandle_t *const	obj,
		dwContextHandle_t const	ctx,
		char8_t const *const	configurationString,
		char8_t const *const	relativeBasePath
	)

Initializes the Rig Configuration module from a string.

Parameters

[out]	obj	A pointer to the Rig Configuration handle for the created module.
[in]	ctx	Specifies the handler to the context under which the Rigconfiguration module is created.
[in]	configurationString	A pointer to a JSON string that contains the rig configuration. Typically produced by the DriveWorks calibration tool.
[in]	relativeBasePath	A base path all relative file references in the rig will be resolved with respect to. If NULL, then the current working directory of the process will be used implicitly.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL or if the json file has no extension
DW_INVALID_HANDLE	when the context handle is invalid, i.e null or wrong type
DW_INTERNAL_ERROR	when internal error happens
DW_BUFFER_FULL	when too many extrinsic profiles are available (> 3)
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_release()

DW_API_PUBLIC dwStatus dwRig_release

(

dwRigHandle_t const

obj

)

Releases the Rig Configuration module.

Parameters

[in]

obj

The Rig Configuration module handle.

Return values

DW_INVALID_HANDLE	when the configuration handle is invalid , i.e NULL or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_reset()

DW_API_PUBLIC dwStatus dwRig_reset

(

dwRigHandle_t const

obj

)

Resets the Rig Configuration module.

Parameters

[in]

obj

Specifies the Rig Configuration module handle.

Return values

DW_INVALID_HANDLE	when the rig handle is invalid, i.e null or wrong type
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_serializeToFile()

DW_API_PUBLIC dwStatus dwRig_serializeToFile	(	char8_t const *const	configurationFile,
		dwConstRigHandle_t const	obj
	)

This method serializes the rig-configuration object to a human-readable rig-configuration file.

The output file contains the full state of the rig-configuration and can again be loaded with dwRig_initializeFromFile().

The serialization format is selected based on the file name extension; currently supported extensions are json.

Parameters

[in]	configurationFile	The name of the file to serialize to. It's extension is used to select the serialization format. This method will overwrite the file if it exists.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the configurationFile pointer is invalid, or if the serialization format is not supported
DW_INVALID_HANDLE	when provided RigConfigurationHandle handle is invalid.
DW_FILE_INVALID	in case of error during serialization.
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_setFThetaCameraConfig()

DW_API_PUBLIC dwStatus dwRig_setFThetaCameraConfig	(	dwFThetaCameraConfig const *const	config,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Sets the parameters of the FTheta camera model.

Parameters

[in]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_CANNOT_CREATE_OBJECT	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_setGenericVehicle()

DW_API_PUBLIC dwStatus dwRig_setGenericVehicle	(	dwGenericVehicle const *const	vehicle,
		dwRigHandle_t const	obj
	)

Sets the properties of a generic vehicle (car or truck).

Parameters

[in]	vehicle	A pointer to the struct holding vehicle properties.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when no generic vehicle in configuration is available
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_setPinholeCameraConfig()

DW_API_PUBLIC dwStatus dwRig_setPinholeCameraConfig	(	dwPinholeCameraConfig const *const	config,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Sets the parameters of the pinhole camera model.

Parameters

[in]	config	A pointer to the configuration of the camera intrinsics.
[in]	sensorId	Specifies the index of the queried sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the config pointer is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when the sensor has no camera model
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_setSensorParameter()

DW_API_PUBLIC dwStatus dwRig_setSensorParameter	(	char8_t const *const	sensorParameter,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Sets the parameter string for a sensor.

This string can be used in sensor creation.

Parameters

[in]	sensorParameter	string representing sensor parameters, for example camera driver and csi port. Maximal length is limited to 512.
[in]	sensorId	Specifies the index of the sensor of which to set sensor parameter.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the sensor parameter string is NULL
DW_INVALID_HANDLE	when the rig configuration handle is invalid, i.e null or wrong type
DW_OUT_OF_BOUNDS	when the index of the sensor to be updated is more than MAX_SENSOR_COUNT
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_setSensorToRigTransformation()

DW_API_PUBLIC dwStatus dwRig_setSensorToRigTransformation	(	dwTransformation3f const *const	transformation,
		uint32_t const	sensorId,
		dwRigHandle_t const	obj
	)

Sets the sensor to rig transformation for a sensor.

See also

dwRig_getSensorToRigTransformation.

Parameters

[in]	transformation	A pointer to the transformation from sensor to rig coordinate system.
[in]	sensorId	Specifies the index of the updates sensor.
[in]	obj	Specifies the rig configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the transformation pointer is NULL
DW_INVALID_HANDLE	when the transformation pointer is NULL
DW_CALL_NOT_ALLOWED	when the sensor's type doesn't support extrinsics
DW_SUCCESS	when operation succeeded

API Group

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

dwRig_setVehicle()

DW_API_PUBLIC dwStatus dwRig_setVehicle	(	dwVehicle const *const	vehicle,
		dwRigHandle_t const	obj
	)

DEPRECATED: Sets the properties of a passenger car vehicle.

Deprecated:

Use dwRig_setGenericVehicle.

Parameters

[in]	vehicle	A pointer to the struct holding vehicle properties.
[in]	obj	Specifies the Rig Configuration module handle.

Return values

DW_INVALID_ARGUMENT	when the rig configuration handle is NULL
DW_INVALID_HANDLE	when at least one of the input handles is invalid, i.e null or wrong type
DW_NOT_AVAILABLE	when no vehicle in configuration is available
DW_SUCCESS	when operation succeeded

API Group

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