Detailed Description

Definition at line 48 of file dwRelativeEgomotionIMUNodeImpl.hpp.

Inheritance diagram for dw::framework::dwRelativeEgomotionIMUNodeImpl:

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Collaboration diagram for dw::framework::dwRelativeEgomotionIMUNodeImpl:

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Public Member Functions
dwStatus	addIMU (ManagedPortInput< dwIMUFrame > &imuFramePort)

dwStatus	addVehicleState (ManagedPortInput< dwVehicleIOSafetyState > &vehicleSafetyStatePort, ManagedPortInput< dwVehicleIONonSafetyState > &vehicleNonSafetyStatePort, ManagedPortInput< dwVehicleIOActuationFeedback > &vehicleActuationFeedbackPort)

	dwRelativeEgomotionIMUNodeImpl (const dwContextHandle_t ctx)

	dwRelativeEgomotionIMUNodeImpl (const dwRelativeEgomotionIMUNodeInitParams &params, const dwContextHandle_t ctx)

dwStatus	executeAsyncReset () override

dwEgomotionHandle_t &	getEgomotionHandle ()

const dwEgomotionParameters &	getEgomotionParameters ()

void	initializeParams (const dwRelativeEgomotionIMUNodeInitParams &params)

dwStatus	preShutdown () override

dwStatus	reset () override

dwStatus	sendGyroBias (ManagedPortOutput< dwCalibratedIMUIntrinsics > &IMUIntrinsicsPort)

dwStatus	sendState (ManagedPortOutput< dwEgomotionStateHandle_t > &egomotionStatePort, ManagedPortOutput< dwEgomotionResultPayload > &resultPayloadPort, ManagedPortOutput< dwTransformation3fPayload > &transPayloadPort, ManagedPortOutput< dwEgomotionPosePayload > &posePayloadPort)

dwStatus	sendState (ManagedPortOutput< dwEgomotionStateHandle_t > &egomotionStatePort, ManagedPortOutput< dwEgomotionResultPayload > &resultPayloadPort, ManagedPortOutput< dwTransformation3fPayload > &transPayloadPort, ManagedPortOutput< dwEgomotionPosePayload > &posePayloadPort, ManagedPortOutput< dwCalibratedIMUIntrinsics > &IMUIntrinsicsPort)

dwStatus	setAsyncReset () override

dwStatus	setupImpl () override

dwStatus	updateIMUExtrinsics (ManagedPortInput< dwSensorNodeProperties > &imuExtrinsicPort)

dwStatus	updateWheelRadii (ManagedPortInput< dwCalibratedWheelRadii > &wheelRadiiPort)

dwStatus	validate () override

	~dwRelativeEgomotionIMUNodeImpl () override

Public Member Functions inherited from dw::framework::SimpleNodeT< dwRelativeEgomotionIMUNode >
std::unique_ptr< Pass >	createSetupPass () override

std::unique_ptr< Pass >	createTeardownPass () override

dwStatus	reset () override
	The default implementation calls SimpleNode::resetPorts. More...

virtual dwStatus	setupImpl ()
	The default implementation calls SimpleNode::setup. More...

	SimpleNodeT ()
	Default constructor registering the setup and teardown passes. More...

	SimpleNodeT (NodeAllocationParams params)

virtual dwStatus	teardownImpl ()
	The default implementation calls SimpleNode::teardown. More...

dwStatus	validate () override
	Validate that all registered ports which have the flag binding-required are bound to a channel. More...

Public Member Functions inherited from dw::framework::SimpleNode
void	addPass (Pass *pass)

dwStatus	clearHealthSignal ()
	Clears the current Health Signals from the Health Signal Array. More...

dwStatus	copyModuleHealthSignals (dwHealthSignal &outSignal)
	Copy health signals from the module over to the node and stores in outSignal. More...

dwStatus	getErrorSignal (dwGraphErrorSignal *&errorSignal) override

dwStatus	getHealthSignal (dwGraphHealthSignal *&healthSignals, bool updateFromModule=false) override

dwStatus	getInputChannel (const uint8_t portID, ChannelObject *&channel) const override
	Gets the input channel associated with the input port. More...

template<typename NodeT , size_t PortIndex>
ManagedPortInput< decltype(portType< NodeT, PortDirection::INPUT, PortIndex >())> &	getInputPort ()
	Get a previously initialized non-array ManagedPortInput. More...

dwStatus	getInputPort (const uint8_t portID, dw::framework::PortBase *&port) const override
	Gets the input port associated with the input port Id. More...

template<typename NodeT , size_t PortIndex>
ManagedPortInput< decltype(portType< NodeT, PortDirection::INPUT, PortIndex >())> &	getInputPort (size_t arrayIndex)
	Get one specific ManagedPortInput from a previously initialized input array port. More...

uint32_t	getIterationCount () const

dwStatus	getName (const char **name) override

uint32_t	getNodePeriod () const

dwStatus	getOutputChannel (const uint8_t portID, ChannelObject *&channel) const override
	Gets the output channel associated with the output port. More...

template<typename NodeT , size_t PortIndex>
ManagedPortOutput< decltype(portType< NodeT, PortDirection::OUTPUT, PortIndex >())> &	getOutputPort ()
	Get a previously initialized non-array ManagedPortOutput. More...

dwStatus	getOutputPort (const uint8_t portID, dw::framework::PortBase *&port) const override
	Gets the output port associated with the output port Id. More...

template<typename NodeT , size_t PortIndex>
ManagedPortOutput< decltype(portType< NodeT, PortDirection::OUTPUT, PortIndex >())> &	getOutputPort (size_t arrayIndex)
	Get one specific ManagedPortOutput from a previously initialized output array port. More...

dwStatus	getPass (Pass **pass, uint8_t index) override

size_t	getPassCount () const noexcept override

dwStatus	getPasses (VectorFixed< Pass * > &passList) override

dwStatus	getPasses (VectorFixed< Pass * > &passList, dwProcessorType processorType, dwProcessType processType) override

const dw::core::HeapHashMap< size_t, std::shared_ptr< PortBase > > &	getRegisteredInputPorts () const

const dw::core::HeapHashMap< size_t, std::shared_ptr< PortBase > > &	getRegisteredOutputPorts () const

template<typename NodeT , size_t PortIndex, typename... Args>
void	initInputArrayPort (Args &&... args)
	Initialize an array of ManagedPortInput which will be owned by the base class and can be retrieved using getInputPort(size_t). More...

template<typename NodeT , size_t PortIndex, typename... Args>
void	initInputPort (Args &&... args)
	Initialize a ManagedPortInput which will be owned by the base class and can be retrieved using getInputPort(). More...

template<typename NodeT , size_t PortIndex, typename... Args>
void	initOutputArrayPort (Args &&... args)
	Initialize an array of ManagedPortOutput which will be owned by the base class and can be retrieved using getOutputPort(size_t). More...

template<typename NodeT , size_t PortIndex, typename... Args>
void	initOutputPort (Args &&... args)
	Initialize a ManagedPortOutput which will be owned by the base class and can be retrieved using getOutputPort(). More...

template<typename Func >
void	iterateManagedInputPorts (Func func)

template<typename Func >
void	iterateManagedOutputPorts (Func func)

template<typename Func , typename PortList >
void	iteratePorts (PortList &portList, Func func)

template<typename TPort , typename... Args>
std::unique_ptr< TPort >	make_port (Args &&... args)

dwStatus	reportCurrentErrorSignal (dwGraphErrorSignal &signal) override
	A function that allows user override to update error signal It is automatically called by dwFramework when getErrorSignal is called and when pass returns non-success return code. More...

dwStatus	reportCurrentHealthSignal (dwGraphHealthSignal &signal) override
	A function that allows user override to update health signal It is automatically called by dwFramework during teardown and when pass returns non-success return code. More...

dwStatus	reset () override

void	resetPorts () override
	Default implementation to reset ports managed by the base class. More...

dwStatus	run () override

dwStatus	runPass (size_t passIndex) override

dwStatus	setInputChannel (ChannelObject *, uint8_t, dwSerializationType) override

dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID) override
	Associate an input port with a channel instances. More...

dwStatus	setIterationCount (uint32_t iterationCount) override

template<typename ModuleHandle_t >
dwStatus	setModuleHandle (ModuleHandle_t handle, dwContextHandle_t context)

dwStatus	setName (const char *name) final

dwStatus	setNodePeriod (uint32_t period) override

virtual dwStatus	setObjectHandle (dwModuleHandle_t handle)

dwStatus	setOutputChannel (ChannelObject *channel, uint8_t portID) override
	Associate an output port with a channel instances. More...

dwStatus	setState (const char *state) override

dwStatus	setup ()
	Default implementation of the setup pass. More...

	SimpleNode ()

	SimpleNode (NodeAllocationParams params)
	Constructor which tailors the preallocated size of the internal collections for ports and passes to the need of the concrete node. More...

dwStatus	teardown ()
	Default implementation of the teardown pass. More...

dwStatus	updateHealthSignal (const dwGraphHealthSignal &signal)
	Adds the provided Health Signal to the Health Signal Array. If the array is full, the new signal will not be added. More...

dwStatus	validate () override

dwStatus	validate (const char *direction, const PortCollectionDescriptor &collection, const dw::core::HeapHashMap< size_t, std::shared_ptr< PortBase > > &ports, size_t indexOffset=0)
	Helper function used by dw::framework::SimpleNodeT::validate. More...

virtual	~SimpleNode ()

Public Member Functions inherited from dw::framework::Node
virtual dwStatus	getErrorSignal (dwGraphErrorSignal *&errorSignal)=0
	Get the pointer to the error signal for this node. More...

virtual dwStatus	getHealthSignal (dwGraphHealthSignal *&healthSignals, bool updateFromModule=false)=0
	Get the pointer to the health signal for this node. More...

virtual dwStatus	getInputChannel (const uint8_t portID, ChannelObject *&channel) const =0
	Gets the input channel associated with the input port. More...

virtual dwStatus	getInputPort (const uint8_t portID, dw::framework::PortBase *&port) const =0
	Gets the input port associated with the port id. More...

virtual dwStatus	getName (const char **name)=0
	Get the name of the node. More...

virtual dwStatus	getOutputChannel (const uint8_t portID, ChannelObject *&channel) const =0
	Gets the output channel associated with the output port. More...

virtual dwStatus	getOutputPort (const uint8_t portID, dw::framework::PortBase *&port) const =0
	Gets the output port associated with the port id. More...

virtual dwStatus	getPass (Pass **pass, uint8_t index)=0
	Get a const pointer to the pass at a specific index. More...

virtual size_t	getPassCount () const noexcept=0
	Get number of passes in the node. More...

virtual dwStatus	getPasses (VectorFixed< Pass * > &passList)=0
	Get all the passes in the node. More...

virtual dwStatus	getPasses (VectorFixed< Pass * > &passList, dwProcessorType processorType, dwProcessType processType)=0
	Get node passes filtered by processor type and process type. More...

virtual dwStatus	reportCurrentErrorSignal (dwGraphErrorSignal &signal)=0
	A function that allows user override to update error signal It is automatically called by dwFramework when getErrorSignal is called and when pass returns non-success return code. More...

virtual dwStatus	reportCurrentHealthSignal (dwGraphHealthSignal &signal)=0
	A function that allows user override to update health signal It is automatically called by dwFramework during teardown and when pass returns non-success return code. More...

virtual dwStatus	reset ()=0
	Resets the state of the node. More...

virtual void	resetPorts ()=0
	Resets all the ports in the node. More...

virtual dwStatus	run ()=0
	Runs all the passes in the node. More...

virtual dwStatus	runPass (size_t passIndex)=0
	Run one pass by index as defined by the pass descriptors. More...

virtual dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID)=0
	Sets an input channel for this node with an accompanying port. More...

virtual dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID, dwSerializationType dataType)=0
	Sets an input channel for this node with an accompanying port. More...

virtual dwStatus	setIterationCount (uint32_t iterationCount)=0
	Sets the node's iteration count. More...

virtual dwStatus	setName (const char *name)=0
	Set the name of the node. More...

virtual dwStatus	setNodePeriod (uint32_t period)=0
	Set the node's period. More...

virtual dwStatus	setOutputChannel (ChannelObject *channel, uint8_t portID)=0
	Sets an output channel for this node with an accompanying port. More...

virtual dwStatus	setState (const char *state)=0
	Set the current state in node. Node implementation of this API need to be thread-safe. More...

virtual dwStatus	validate ()=0
	Checks that all mandatory ports are bound. The implementation should validate that all the ports are bound to the appropriate channels (any required ports, that is). For example, a camera node may have processed output and raw output ports, but only one is required to be bound. More...

virtual	~Node ()=default

Public Member Functions inherited from dw::framework::IAsyncResetable
virtual dwStatus	executeAsyncReset ()=0
	Executes a reset if the async reset flag is set. More...

virtual dwStatus	setAsyncReset ()=0
	Set the async reset flag. More...

virtual	~IAsyncResetable ()=default

Public Member Functions inherited from dw::framework::IContainsPreShutdownAction
virtual dwStatus	preShutdown ()=0
	actions to be taken before node shutdown More...

virtual	~IContainsPreShutdownAction ()=default

Static Public Attributes
static constexpr char	LOG_TAG [] = "dwRelativeEgomotionIMUNode"

Static Public Attributes inherited from dw::framework::SimpleNode
static constexpr const char *	PASS_SETUP_NAME = "SETUP"

static constexpr const char *	PASS_TEARDOWN_NAME = "TEARDOWN"

Static Public Attributes inherited from dw::framework::Node
static constexpr size_t	MAX_NAME_LEN = 128

static constexpr uint32_t	MAX_PASS_COUNT = 256

static constexpr uint32_t	MAX_PORT_COUNT = 256

Protected Member Functions
void	monitorSignals (dwTime_t const currentHostTime, dwTime_t const latestEgomotionTimestamp) const

void	sendModuleHandle ()

void	sendRoadCast (ManagedPortOutput< dwEgomotionResultPayload > &resultPayloadPort, ManagedPortOutput< dwTransformation3fPayload > &transPayloadPort, ManagedPortOutput< dwEgomotionPosePayload > &posePayloadPort)

Protected Member Functions inherited from dw::framework::SimpleNode
virtual std::unique_ptr< Pass >	createSetupPass ()

virtual std::unique_ptr< Pass >	createTeardownPass ()

dwStatus	getModuleHandle (dwModuleHandle_t moduleHandle, void handle, dwContextHandle_t context)

template<typename PassFunctionT , typename... Args>
std::unique_ptr< PassImpl< PassFunctionT > >	make_pass (PassFunctionT func, Args &&... args)

template<typename NodeT , size_t PassIndex, typename PassFunctionT >
void	registerPass (PassFunctionT func, NvMediaDla *dlaEngine=nullptr)
	Register a pass function with the node base class. More...

Protected Attributes
const dwContextHandle_t	m_ctx = DW_NULL_HANDLE

dwEgomotionHandle_t	m_egomotion = DW_NULL_HANDLE

dwEgomotionParameters	m_egomotionParams {}

uint64_t	m_imuInputCounter = 0U

uint32_t	m_imuSensorID = 0U

dwTime_t	m_initTimestamp = DW_TIME_INVALID

bool	m_isDrained = false

dwTime_t	m_lastUpdate {}

dwTime_t	m_latestIMUTimestamp = DW_TIME_INVALID

dwTime_t	m_latestVioTimestamp = DW_TIME_INVALID

void **	m_outputHandle {nullptr}

dwVehicle	m_vehicle {}

uint64_t	m_vioInputCounter = 0U

Protected Attributes inherited from dw::framework::SimpleNode
std::atomic< bool >	m_asyncResetFlag {false}

dw::core::HeapHashMap< size_t, std::shared_ptr< PortBase > >	m_inputPorts

dw::core::HeapHashMap< size_t, std::shared_ptr< PortBase > >	m_outputPorts

Static Protected Attributes
static const dwTime_t	INITIALIZATION_TIMEOUT = 5'000'000

static const uint64_t	MINIMUM_INPUT_COUNT = 100

static const dwTime_t	MISSING_SIGNAL_TIMEOUT = 50'000

Additional Inherited Members
Public Types inherited from dw::framework::SimpleNodeT< dwRelativeEgomotionIMUNode >
using	NodeT = dwRelativeEgomotionIMUNode

Public Types inherited from dw::framework::Node
using	Name_t = FixedString< MAX_NAME_LEN >

Constructor & Destructor Documentation

◆ dwRelativeEgomotionIMUNodeImpl() [1/2]

dw::framework::dwRelativeEgomotionIMUNodeImpl::dwRelativeEgomotionIMUNodeImpl	(	const dwRelativeEgomotionIMUNodeInitParams &	params,
		const dwContextHandle_t	ctx
	)

◆ dwRelativeEgomotionIMUNodeImpl() [2/2]

dw::framework::dwRelativeEgomotionIMUNodeImpl::dwRelativeEgomotionIMUNodeImpl ( const dwContextHandle_t ctx )

inline

Definition at line 55 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ ~dwRelativeEgomotionIMUNodeImpl()

dw::framework::dwRelativeEgomotionIMUNodeImpl::~dwRelativeEgomotionIMUNodeImpl ( )

override

Member Function Documentation

◆ addIMU()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::addIMU ( ManagedPortInput< dwIMUFrame > & imuFramePort )

◆ addVehicleState()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::addVehicleState	(	ManagedPortInput< dwVehicleIOSafetyState > &	vehicleSafetyStatePort,
		ManagedPortInput< dwVehicleIONonSafetyState > &	vehicleNonSafetyStatePort,
		ManagedPortInput< dwVehicleIOActuationFeedback > &	vehicleActuationFeedbackPort
	)

◆ executeAsyncReset()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::executeAsyncReset ( )

overridevirtual

Implements dw::framework::IAsyncResetable.

◆ getEgomotionHandle()

dwEgomotionHandle_t & dw::framework::dwRelativeEgomotionIMUNodeImpl::getEgomotionHandle ( )

inline

Definition at line 88 of file dwRelativeEgomotionIMUNodeImpl.hpp.

References m_egomotion.

◆ getEgomotionParameters()

const dwEgomotionParameters & dw::framework::dwRelativeEgomotionIMUNodeImpl::getEgomotionParameters ( )

inline

Definition at line 87 of file dwRelativeEgomotionIMUNodeImpl.hpp.

References m_egomotionParams.

◆ initializeParams()

void dw::framework::dwRelativeEgomotionIMUNodeImpl::initializeParams ( const dwRelativeEgomotionIMUNodeInitParams & params )

◆ monitorSignals()

void dw::framework::dwRelativeEgomotionIMUNodeImpl::monitorSignals	(	dwTime_t const	currentHostTime,
		dwTime_t const	latestEgomotionTimestamp
	)		const

protected

◆ preShutdown()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::preShutdown ( )

overridevirtual

Implements dw::framework::IContainsPreShutdownAction.

◆ reset()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::reset ( )

overridevirtual

Reimplemented from dw::framework::SimpleNode.

◆ sendGyroBias()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::sendGyroBias ( ManagedPortOutput< dwCalibratedIMUIntrinsics > & IMUIntrinsicsPort )

◆ sendModuleHandle()

void dw::framework::dwRelativeEgomotionIMUNodeImpl::sendModuleHandle ( )

protected

◆ sendRoadCast()

void dw::framework::dwRelativeEgomotionIMUNodeImpl::sendRoadCast	(	ManagedPortOutput< dwEgomotionResultPayload > &	resultPayloadPort,
		ManagedPortOutput< dwTransformation3fPayload > &	transPayloadPort,
		ManagedPortOutput< dwEgomotionPosePayload > &	posePayloadPort
	)

protected

◆ sendState() [1/2]

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::sendState	(	ManagedPortOutput< dwEgomotionStateHandle_t > &	egomotionStatePort,
		ManagedPortOutput< dwEgomotionResultPayload > &	resultPayloadPort,
		ManagedPortOutput< dwTransformation3fPayload > &	transPayloadPort,
		ManagedPortOutput< dwEgomotionPosePayload > &	posePayloadPort
	)

◆ sendState() [2/2]

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::sendState	(	ManagedPortOutput< dwEgomotionStateHandle_t > &	egomotionStatePort,
		ManagedPortOutput< dwEgomotionResultPayload > &	resultPayloadPort,
		ManagedPortOutput< dwTransformation3fPayload > &	transPayloadPort,
		ManagedPortOutput< dwEgomotionPosePayload > &	posePayloadPort,
		ManagedPortOutput< dwCalibratedIMUIntrinsics > &	IMUIntrinsicsPort
	)

◆ setAsyncReset()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::setAsyncReset ( )

overridevirtual

Implements dw::framework::IAsyncResetable.

◆ setupImpl()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::setupImpl ( )

overridevirtual

Reimplemented from dw::framework::SimpleNodeT< dwRelativeEgomotionIMUNode >.

◆ updateIMUExtrinsics()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::updateIMUExtrinsics ( ManagedPortInput< dwSensorNodeProperties > & imuExtrinsicPort )

◆ updateWheelRadii()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::updateWheelRadii ( ManagedPortInput< dwCalibratedWheelRadii > & wheelRadiiPort )

◆ validate()

dwStatus dw::framework::dwRelativeEgomotionIMUNodeImpl::validate ( )

overridevirtual

Reimplemented from dw::framework::SimpleNode.

Member Data Documentation

◆ INITIALIZATION_TIMEOUT

const dwTime_t dw::framework::dwRelativeEgomotionIMUNodeImpl::INITIALIZATION_TIMEOUT = 5'000'000

staticprotected

Definition at line 113 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ LOG_TAG

constexpr char dw::framework::dwRelativeEgomotionIMUNodeImpl::LOG_TAG[] = "dwRelativeEgomotionIMUNode"

staticconstexpr

Definition at line 51 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_ctx

const dwContextHandle_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_ctx = DW_NULL_HANDLE

protected

Definition at line 106 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_egomotion

dwEgomotionHandle_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_egomotion = DW_NULL_HANDLE

protected

Definition at line 105 of file dwRelativeEgomotionIMUNodeImpl.hpp.

Referenced by getEgomotionHandle().

◆ m_egomotionParams

dwEgomotionParameters dw::framework::dwRelativeEgomotionIMUNodeImpl::m_egomotionParams {}

protected

Definition at line 108 of file dwRelativeEgomotionIMUNodeImpl.hpp.

Referenced by getEgomotionParameters().

◆ m_imuInputCounter

uint64_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_imuInputCounter = 0U

protected

Definition at line 123 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_imuSensorID

uint32_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_imuSensorID = 0U

protected

Definition at line 111 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_initTimestamp

dwTime_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_initTimestamp = DW_TIME_INVALID

protected

Definition at line 119 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_isDrained

bool dw::framework::dwRelativeEgomotionIMUNodeImpl::m_isDrained = false

mutableprotected

Definition at line 120 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_lastUpdate

dwTime_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_lastUpdate {}

protected

Definition at line 103 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_latestIMUTimestamp

dwTime_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_latestIMUTimestamp = DW_TIME_INVALID

protected

Definition at line 118 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_latestVioTimestamp

dwTime_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_latestVioTimestamp = DW_TIME_INVALID

protected

Definition at line 117 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_outputHandle

void** dw::framework::dwRelativeEgomotionIMUNodeImpl::m_outputHandle {nullptr}

protected

Definition at line 109 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_vehicle

dwVehicle dw::framework::dwRelativeEgomotionIMUNodeImpl::m_vehicle {}

protected

Definition at line 100 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ m_vioInputCounter

uint64_t dw::framework::dwRelativeEgomotionIMUNodeImpl::m_vioInputCounter = 0U

protected

Definition at line 122 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ MINIMUM_INPUT_COUNT

const uint64_t dw::framework::dwRelativeEgomotionIMUNodeImpl::MINIMUM_INPUT_COUNT = 100

staticprotected

Definition at line 115 of file dwRelativeEgomotionIMUNodeImpl.hpp.

◆ MISSING_SIGNAL_TIMEOUT

const dwTime_t dw::framework::dwRelativeEgomotionIMUNodeImpl::MISSING_SIGNAL_TIMEOUT = 50'000

staticprotected

Definition at line 114 of file dwRelativeEgomotionIMUNodeImpl.hpp.

The documentation for this class was generated from the following file:

src/dwframework/dwnodes/egomotion/dwrelativeegomotionimunode/impl/dwRelativeEgomotionIMUNodeImpl.hpp

Detailed Description

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Static Protected Attributes

Additional Inherited Members

Constructor & Destructor Documentation

◆ dwRelativeEgomotionIMUNodeImpl() [1/2]

◆ dwRelativeEgomotionIMUNodeImpl() [2/2]

◆ ~dwRelativeEgomotionIMUNodeImpl()

Member Function Documentation

◆ addIMU()

◆ addVehicleState()

◆ executeAsyncReset()

◆ getEgomotionHandle()

◆ getEgomotionParameters()

◆ initializeParams()

◆ monitorSignals()

◆ preShutdown()

◆ reset()

◆ sendGyroBias()

◆ sendModuleHandle()

◆ sendRoadCast()

◆ sendState() [1/2]

◆ sendState() [2/2]

◆ setAsyncReset()

◆ setupImpl()

◆ updateIMUExtrinsics()

◆ updateWheelRadii()

◆ validate()

Member Data Documentation

◆ INITIALIZATION_TIMEOUT

◆ LOG_TAG

◆ m_ctx

◆ m_egomotion

◆ m_egomotionParams

◆ m_imuInputCounter

◆ m_imuSensorID

◆ m_initTimestamp

◆ m_isDrained

◆ m_lastUpdate

◆ m_latestIMUTimestamp

◆ m_latestVioTimestamp

◆ m_outputHandle

◆ m_vehicle

◆ m_vioInputCounter

◆ MINIMUM_INPUT_COUNT

◆ MISSING_SIGNAL_TIMEOUT