Egomotion.h File Reference

Detailed Description

NVIDIA DriveWorks API: Egomotion Methods

Description: This file defines the motion models estimating the pose of the vehicle.

Definition in file Egomotion.h.

Go to the source code of this file.

Data Structures
struct	dwEgomotionLinearAccelerationFilterParams
	Defines egomotion linear acceleration filter parameters. More...
struct	dwEgomotionParameters
	Holds initialization parameters for the Egomotion module. More...
struct	dwEgomotionRelativeUncertainty
	Holds egomotion uncertainty estimates for a relative motion estimate. More...
struct	dwEgomotionResult
	Holds egomotion state estimate. More...
struct	dwEgomotionSensorCharacteristics
	Sensor measurement noise characteristics. More...
struct	dwEgomotionSuspensionParameters
	Suspension model type and parameters. More...
struct	dwEgomotionUncertainty
	Holds egomotion uncertainty estimates. More...

Typedefs
typedef struct dwEgomotionObject const *	dwEgomotionConstHandle_t
typedef struct dwEgomotionObject *	dwEgomotionHandle_t

Enumerations
enum	dwEgomotionDataField {   DW_EGOMOTION_ROTATION = 1 << 0 ,   DW_EGOMOTION_LIN_VEL_X = 1 << 1 ,   DW_EGOMOTION_LIN_VEL_Y = 1 << 2 ,   DW_EGOMOTION_LIN_VEL_Z = 1 << 3 ,   DW_EGOMOTION_ANG_VEL_X = 1 << 4 ,   DW_EGOMOTION_ANG_VEL_Y = 1 << 5 ,   DW_EGOMOTION_ANG_VEL_Z = 1 << 6 ,   DW_EGOMOTION_LIN_ACC_X = 1 << 7 ,   DW_EGOMOTION_LIN_ACC_Y = 1 << 8 ,   DW_EGOMOTION_LIN_ACC_Z = 1 << 9 ,   DW_EGOMOTION_ANG_ACC_X = 1 << 10 ,   DW_EGOMOTION_ANG_ACC_Y = 1 << 11 ,   DW_EGOMOTION_ANG_ACC_Z = 1 << 12 }
	Defines flags that indicate validity of corresponding data in dwEgomotionResult and dwEgomotionUncertainty. More...
enum	dwEgomotionLinearAccelerationFilterMode {   DW_EGOMOTION_ACC_FILTER_NO_FILTERING ,   DW_EGOMOTION_ACC_FILTER_SIMPLE }
	Defines egomotion linear acceleration filter mode. More...
enum	dwEgomotionSpeedMeasurementType {   DW_EGOMOTION_FRONT_SPEED = 0 ,   DW_EGOMOTION_REAR_WHEEL_SPEED = 1 ,   DW_EGOMOTION_REAR_SPEED = 2 }
	Defines speed measurement types. More...
enum	dwEgomotionSteeringMeasurementType {   DW_EGOMOTION_FRONT_STEERING = 0 ,   DW_EGOMOTION_STEERING_WHEEL_ANGLE = 1 }
	Defines steering measurement types. More...
enum	dwEgomotionSuspensionModel {   DW_EGOMOTION_SUSPENSION_RIGID_MODEL = 0 ,   DW_EGOMOTION_SUSPENSION_TORSIONAL_SPRING_MODEL = 1 }
	Defines egomotion suspension model. More...
enum	dwMotionModel {   DW_EGOMOTION_ODOMETRY = 1 << 0 ,   DW_EGOMOTION_IMU_ODOMETRY = 1 << 1 | DW_EGOMOTION_ODOMETRY }
	Defines the motion models. More...
enum	dwMotionModelMeasurement {   DW_EGOMOTION_MEASUREMENT_VELOCITY = 0 ,   DW_EGOMOTION_MEASUREMENT_STEERINGANGLE = 1 ,   DW_EGOMOTION_MEASUREMENT_STEERINGWHEELANGLE = 2 }
	Defines motion measurements. More...

Functions
DW_API_PUBLIC dwStatus	dwEgomotion_addIMUMeasurement (const dwIMUFrame *imu, dwEgomotionHandle_t obj)
	Adds an IMU frame to the egomotion module. More...
DW_API_PUBLIC dwStatus	dwEgomotion_addOdometry (dwMotionModelMeasurement measuredType, float32_t measuredValue, dwTime_t timestamp, dwEgomotionHandle_t obj)
	Notifies the egomotion module of a new odometry measurement. More...
DW_API_PUBLIC dwStatus	dwEgomotion_addVehicleIOState (dwVehicleIOSafetyState const *safeState, dwVehicleIONonSafetyState const *nonSafeState, dwVehicleIOActuationFeedback const *actuationFeedback, dwEgomotionHandle_t obj)
	Notifies the egomotion module of a changed vehicle state. More...
DW_API_PUBLIC dwStatus	dwEgomotion_addVehicleState (const dwVehicleIOState *state, dwEgomotionHandle_t obj)
	Notifies the egomotion module of a changed vehicle state. More...
DW_API_PUBLIC dwStatus	dwEgomotion_applyRelativeTransformation (dwTransformation3f *newVehicle2World, const dwTransformation3f *poseOld2New, const dwTransformation3f *oldVehicle2World)
	Applies the estimated relative motion as returned by dwEgomotion_computeRelativeTransformation() to a given vehicle pose. More...
DW_API_PUBLIC dwStatus	dwEgomotion_computeRelativeTransformation (dwTransformation3f *poseAtoB, dwEgomotionRelativeUncertainty *uncertainty, dwTime_t timestamp_a, dwTime_t timestamp_b, dwEgomotionConstHandle_t obj)
	Computes the relative transformation between two timestamps and the uncertainty of this transform. More...
DW_API_PUBLIC dwStatus	dwEgomotion_computeSteeringAngleFromIMU (float32_t *steeringAngle, float32_t *inverseSteeringR, const dwIMUFrame *imuMeasurement, dwEgomotionConstHandle_t obj)
	Computes steering angle of the vehicle based on IMU measurement. More...
DW_API_PUBLIC dwStatus	dwEgomotion_estimate (dwEgomotionResult *pose, dwEgomotionUncertainty *uncertainty, dwTime_t timestamp_us, dwEgomotionConstHandle_t obj)
	Estimates the state for a given timestamp. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getEstimation (dwEgomotionResult *result, dwEgomotionConstHandle_t obj)
	Gets the latest state estimate. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getEstimationTimestamp (dwTime_t *timestamp, dwEgomotionConstHandle_t obj)
	Gets the timestamp of the latest state estimate. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getGyroscopeBias (dwVector3f *gyroBias, dwEgomotionConstHandle_t obj)
	Get estimated gyroscope bias. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getHistoryElement (dwEgomotionResult *pose, dwEgomotionUncertainty *uncertainty, size_t index, dwEgomotionConstHandle_t obj)
	Returns an element from the motion history that is currently available. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getHistorySize (size_t *num, dwEgomotionConstHandle_t obj)
	Returns the number of elements currently stored in the history. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getMotionModel (dwMotionModel *model, dwEgomotionConstHandle_t obj)
	Returns the type of the motion model used. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getUncertainty (dwEgomotionUncertainty *result, dwEgomotionConstHandle_t obj)
	Gets the latest state estimate uncertainties. More...
DW_API_PUBLIC dwStatus	dwEgomotion_hasEstimation (bool *result, dwEgomotionConstHandle_t obj)
	Check whether has state estimate. More...
DW_API_PUBLIC dwStatus	dwEgomotion_initialize (dwEgomotionHandle_t *obj, const dwEgomotionParameters *params, dwContextHandle_t ctx)
	Initializes the egomotion module. More...
DW_API_PUBLIC dwStatus	dwEgomotion_initParamsFromRig (dwEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, const char *imuSensorName, const char *vehicleSensorName)
	Initialize egomotion parameters from a provided RigConfiguration. More...
DW_API_PUBLIC dwStatus	dwEgomotion_initParamsFromRigByIndex (dwEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, uint32_t imuSensorIdx, uint32_t vehicleSensorIdx)
	Same as dwEgomotion_initParamsFromRig however uses sensor indices in rigConfiguration instead of their names. More...
DW_API_PUBLIC dwStatus	dwEgomotion_release (dwEgomotionHandle_t obj)
	Releases the egomotion module. More...
DW_API_PUBLIC dwStatus	dwEgomotion_reset (dwEgomotionHandle_t obj)
	Resets the state estimate and all history of the egomotion module. More...
DW_API_PUBLIC dwStatus	dwEgomotion_steeringAngleToSteeringWheelAngle (float32_t *steeringWheelAngle, float32_t steeringAngle, dwEgomotionHandle_t obj)
	Convert steering angle to steering wheel angle. More...
DW_API_PUBLIC dwStatus	dwEgomotion_steeringWheelAngleToSteeringAngle (float32_t *steeringAngle, float32_t steeringWheelAngle, dwEgomotionHandle_t obj)
	Convert steering wheel angle to steering angle. More...
DW_API_PUBLIC dwStatus	dwEgomotion_update (dwTime_t timestamp_us, dwEgomotionHandle_t obj)
	Runs the motion model estimation for a given timestamp. More...
DW_API_PUBLIC dwStatus	dwEgomotion_updateIMUExtrinsics (const dwTransformation3f *imuToRig, dwEgomotionHandle_t obj)
	This method updates the IMU extrinsics to convert from the IMU coordinate system to the vehicle rig coordinate system. More...
DW_API_PUBLIC dwStatus	dwEgomotion_updateVehicle (const dwVehicle *vehicle, dwEgomotionHandle_t obj)
	This method updates the egomotion module with an updated vehicle. More...