OccupancyGrid.h File Reference

Detailed Description

NVIDIA DriveWorks API: Occupancy Grid

Description: This file defines methods for Occupancy Grid mapping and fusion.

Definition in file OccupancyGrid.h.

Go to the source code of this file.

Data Structures
struct	dwObstacle
	Defines an obstacle. More...
struct	dwOccupancyGridLayerParameters
	Holds the initialization parameters for a range sensor layer in the occupancy grid. More...
struct	dwOccupancyGridParameters
	Holds the initialization parameters for the occupancy grid. More...

Typedefs
typedef struct dwOccupancyGridObject *	dwOccupancyGridHandle_t
	A pointer to the opaque handle for occupancy grid. More...

Functions
DW_API_PUBLIC dwStatus	dwOccupancyGrid_getGridImage (dwImageGL *output, dwOccupancyGridHandle_t grid)
	Renders the combined occupancy grid into the output FBO. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_getGridLayerImage (dwImageGL *output, uint8_t layer, dwOccupancyGridHandle_t grid)
	Renders the occupancy grid into the output FBO. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_getLayerProperties (dwOccupancyGridLayerParameters *output, uint8_t layer, dwOccupancyGridHandle_t grid)
	Gets the layer properties for a given layer. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_initialize (dwOccupancyGridHandle_t *grid, const dwOccupancyGridParameters *params, dwContextHandle_t context)
	Initializes an occupancy grid. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_insertObstacleList (const dwObstacle *inputList, uint32_t count, uint8_t layer, dwOccupancyGridHandle_t grid)
	Updates an occupancy grid with an obstacle list. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_insertPointList (const dwVector4f *inputList, uint32_t count, uint8_t layer, dwOccupancyGridHandle_t grid)
	Updates an occupancy grid with raw input where each dwVector4f is treated as a hit point. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_release (dwOccupancyGridHandle_t *grid)
	Releases the occupancy grid. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_reset (dwOccupancyGridHandle_t grid)
	Clears the occupancy grid. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_setLayerProperties (uint8_t layer, const dwOccupancyGridLayerParameters *input, dwOccupancyGridHandle_t grid)
	Sets the layer properties for a given layer. More...
DW_API_PUBLIC dwStatus	dwOccupancyGrid_update (const dwTransformation *matrix, uint8_t layer, dwOccupancyGridHandle_t grid)
	Transforms an occupancy grid. More...

Variables
const uint8_t	DW_OCCUPANCY_GRID_MAX_LAYER_COUNT = 16