Egomotion.h File Reference

Detailed Description

NVIDIA DriveWorks API: Egomotion Methods

Description: This file defines the motion model to predict vehicle's pose.

Definition in file Egomotion.h.

Go to the source code of this file.

Data Structures
struct	dwEgoMotionParameters
	Holds initialization parameters for the EgoMotion module. More...
struct	dwEgomotionResult
	Holds egomotion results that contain multiple fields. More...
struct	dwEgoMotionSensorCharacteristics
	Sensor measurement noise characteristics for the individual used sensors. More...
struct	dwEgomotionUncertainty
	Holds egomotion result uncertainties. More...

Typedefs
typedef struct dwEgomotionObject *	dwEgomotionHandle_t

Enumerations
enum	dwEgomotionDataField {   DW_EGOMOTION_ROLL = 1 << 3,   DW_EGOMOTION_PITCH = 1 << 4,   DW_EGOMOTION_YAW = 1 << 5,   DW_EGOMOTION_VEL_X = 1 << 6,   DW_EGOMOTION_VEL_Y = 1 << 7,   DW_EGOMOTION_VEL_Z = 1 << 8,   DW_EGOMOTION_ACC_X = 1 << 9,   DW_EGOMOTION_ACC_Y = 1 << 10,   DW_EGOMOTION_ACC_Z = 1 << 11,   DW_EGOMOTION_GYR_X = 1 << 12,   DW_EGOMOTION_GYR_Y = 1 << 13,   DW_EGOMOTION_GYR_Z = 1 << 14,   DW_EGOMOTION_GPS_LAT = 1 << 15,   DW_EGOMOTION_GPS_LON = 1 << 16,   DW_EGOMOTION_GPS_ALT = 1 << 17 }
	Defines flags that indicate valid data fields. More...
enum	dwMotionModel {   DW_EGOMOTION_ODOMETRY = 1 << 0,   DW_EGOMOTION_IMU_ODOMETRY = 1 << 1 | DW_EGOMOTION_ODOMETRY,   DW_EGOMOTION_IMU_ODOMETRY_GPS = 1 << 2 | DW_EGOMOTION_IMU_ODOMETRY }
	Defines the egomotion models. More...
enum	dwMotionModelMeasurement {   DW_EGOMOTION_MEASURMENT_VELOCITY = 0,   DW_EGOMOTION_MEASURMENT_STEERINGANGLE = 1 }
	Defines motion measurements. More...

Functions
DW_API_PUBLIC dwStatus	dwEgomotion_addGPSMeasurement (const dwGPSFrame *location, dwEgomotionHandle_t obj)
	Adds location measurement to the egomotion module. More...
DW_API_PUBLIC dwStatus	dwEgomotion_addIMUMeasurement (const dwIMUFrame *imu, dwEgomotionHandle_t obj)
	Adds an inertial motion unit measurement to the egomotion module. More...
DW_API_PUBLIC dwStatus	dwEgomotion_addOdometry (dwMotionModelMeasurement measuredType, float32_t measuredValue, dwTime_t timestamp_us, dwEgomotionHandle_t obj)
	Notifies the egomotion module of a new odometry measurement. More...
DW_API_PUBLIC dwStatus	dwEgomotion_applyRelativeTransformation (dwTransformation *newVehicle2World, const dwTransformation *poseOld2New, const dwTransformation *oldVehicle2World)
	Applies the estimated relative motion as returned by dwEgomotion_computeRelativeTransformation() to a given vehicle pose. More...
DW_API_PUBLIC dwStatus	dwEgomotion_computeRelativeTransformation (dwTransformation *poseAtoB, dwTime_t timestamp_a, dwTime_t timestamp_b, dwEgomotionHandle_t obj)
	Computes the relative pose between two timestamps in the past. More...
DW_API_PUBLIC dwStatus	dwEgomotion_estimate (dwEgomotionResult *pose, dwEgomotionUncertainty *sigma, dwTime_t timestamp_us, dwEgomotionHandle_t obj)
	Runs the motion model estimation for a given timestamp and predicts motion as it would happen for the provided timestamp. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getEstimation (dwEgomotionResult *result, dwEgomotionHandle_t obj)
	Gets the current estimated pose. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getEstimationTimestamp (dwTime_t *timestamp_us, dwEgomotionHandle_t obj)
	Gets the timestamp of the available estimation result. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getHistoryEntry (const dwEgomotionResult **pose, const dwEgomotionUncertainty **sigma, dwTime_t *timestamp_us, size_t index, dwEgomotionHandle_t obj)
	Returns an entry from the motion history that is currently available. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getHistorySize (size_t *num, dwEgomotionHandle_t obj)
	Returns the number of elements currently stored in the motion history. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getMotionModel (dwMotionModel *model, dwEgomotionHandle_t obj)
	Returns the type of the motion model used. More...
DW_API_PUBLIC dwStatus	dwEgomotion_getUncertainty (dwEgomotionUncertainty *result, dwEgomotionHandle_t obj)
	Gets the current estimation uncertainties. 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_release (dwEgomotionHandle_t *obj)
	Releases the egomotion module. More...
DW_API_PUBLIC dwStatus	dwEgomotion_reset (dwEgomotionHandle_t obj)
	Resets the egomotion module. More...
DW_API_PUBLIC dwStatus	dwEgomotion_update (dwTime_t timestamp_us, dwEgomotionHandle_t obj)
	Runs the motion model estimation for a given timestamp. More...