DopplerMotionEstimator.h

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#ifndef DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__
#define DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__
 
#include <dw/core/context/Context.h>
#include <dw/sensors/radar/Radar.h>
#include <dw/control/vehicleio/VehicleIOValStructures.h>
#include <dw/rig/Vehicle.h>
 
#include "DopplerMotionEstimatorTypes.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwRadarDopplerMotionObject* dwRadarDopplerMotionHandle_t;
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_initialize(dwRadarDopplerMotionHandle_t* obj,
                                         const dwRadarDopplerMotionParams* params,
                                         cudaStream_t stream,
                                         dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getDefaultParams(dwRadarDopplerMotionParams* params);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_setCUDAStream(cudaStream_t stream,
                                            dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getCUDAStream(cudaStream_t* stream,
                                            dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_processAsync(const dwRadarScan* radarScan,
                                           dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_addVehicleIOState(dwVehicleIOSafetyState const* safeState,
                                                dwVehicleIONonSafetyState const* nonSafeState,
                                                dwVehicleIOActuationFeedback const* actuationFeedback,
                                                dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getMotion(dwRadarDopplerMotion* motion,
                                        dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_reset(dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_release(dwRadarDopplerMotionHandle_t obj);
 
#ifdef __cplusplus
}
#endif
#endif // DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__