RigConfiguration.h

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#ifndef DW_RIGCONFIGURATION_RIGCONFIGURATION_H__
#define DW_RIGCONFIGURATION_RIGCONFIGURATION_H__

#include <dw/core/Config.h>
#include <dw/core/Exports.h>
#include <dw/core/Context.h>
#include <dw/core/Types.h>
#include <dw/sensors/Sensors.h>
#include <stdint.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwRigConfigurationObject *dwRigConfigurationHandle_t;
typedef struct dwRigConfigurationObject const *dwConstRigConfigurationHandle_t;

// Calibrated cameras
typedef enum dwCameraModel {
    DW_CAMERA_MODEL_OCAM    = 0,
    DW_CAMERA_MODEL_PINHOLE = 1,
    DW_CAMERA_MODEL_FTHETA  = 2
} dwCameraModel;

#define DW_PINHOLE_DISTORTION_LENGTH 3

typedef struct dwPinholeCameraConfig {
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t focalX;

    float32_t focalY;

    float32_t distortion[DW_PINHOLE_DISTORTION_LENGTH];
} dwPinholeCameraConfig ;

#define DW_OCAM_POLY_LENGTH 5

typedef struct dwOCamCameraConfig {
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t c;

    float32_t d;

    float32_t e;

    float32_t poly[DW_OCAM_POLY_LENGTH];
} dwOCamCameraConfig ;

#define DW_FTHETA_POLY_LENGTH 5

typedef struct dwFThetaCameraConfig {
    uint32_t width;

    uint32_t height;

    float32_t u0;

    float32_t v0;

    float32_t backwardsPoly[DW_FTHETA_POLY_LENGTH];
} dwFThetaCameraConfig ;

typedef struct dwVehicle {
    float32_t height;                  
    float32_t length;                  
    float32_t width;                   
    float32_t widthWithMirrors;        
    float32_t wheelbase;               
    float32_t axlebaseFront;           
    float32_t axlebaseRear;            
    float32_t wheelDiameter;           
    float32_t bumperRear;              
    float32_t bumperFront;             
    float32_t steeringCoefficient;     
    float32_t mass;                    
    float32_t inertia;                 
    float32_t frontCorneringStiffness; 
    float32_t rearCorneringStiffness;  
    float32_t centerOfMassToRearAxle;  
} dwVehicle ;

DW_API_PUBLIC dwStatus dwRigConfiguration_initializeFromFile(dwRigConfigurationHandle_t *obj,
                                                             dwContextHandle_t ctx,
                                                             const char *configurationFile);

DW_API_PUBLIC dwStatus dwRigConfiguration_reset(dwRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_release(dwRigConfigurationHandle_t *obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getVehicle(const dwVehicle **vehicle,
                                                     dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorCount(uint32_t *sensorCount,
                                                         dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorProtocol(const char **sensorProtocol, uint32_t sensorID,
                                                            dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorParameter(const char **sensorParameter, uint32_t sensorID,
                                                             dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorToRigTransformation(dwTransformation *transformation,
                                                                       uint32_t sensorID,
                                                                       dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_setSensorToRigTransformation(dwTransformation const *transformation,
                                                                       uint32_t sensorID,
                                                                       dwRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorName(const char **sensorName, uint32_t sensorID,
                                                        dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_findSensorByName(uint32_t *sensorID, const char *sensorName,
                                                           dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getSensorType(dwSensorType * sensorType, uint32_t sensorID,
                                                        dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getCameraModel(dwCameraModel *cameraModel,
                                                         uint32_t sensorID,
                                                         dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getPinholeCameraConfig(dwPinholeCameraConfig *config,
                                                                 uint32_t sensorID,
                                                                 dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getOCamCameraConfig(dwOCamCameraConfig *config,
                                                              uint32_t sensorID,
                                                              dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC dwStatus dwRigConfiguration_getFThetaCameraConfig(dwFThetaCameraConfig *config,
                                                                uint32_t sensorID,
                                                                dwConstRigConfigurationHandle_t obj);

DW_API_PUBLIC
dwStatus dwRigConfiguration_serializeToFile(const char *configurationFile, dwConstRigConfigurationHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_RIGCONFIGURATION_RIGCONFIGURATION_H__