GlobalEgomotion.h

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#ifndef DW_EGOMOTION_GLOBAL_GLOBALEGOMOTION_H_
#define DW_EGOMOTION_GLOBAL_GLOBALEGOMOTION_H_

#include <dw/egomotion/Egomotion.h>
#include <dw/sensors/gps/GPS.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwGlobalEgomotionObject* dwGlobalEgomotionHandle_t;
typedef struct dwGlobalEgomotionObject const* dwGlobalEgomotionConstHandle_t;

typedef struct
{
    dwVector3f antennaPosition;

    float32_t horizontalNoiseMeter;

    float32_t verticalNoiseMeter;

} dwGNSSCharacteristics;

typedef struct
{
    dwGNSSCharacteristics sensorCharacteristics;

    float32_t rotationalDrift;

    size_t historySize;

} dwGlobalEgomotionParameters;

typedef struct dwGeoPointWGS84
{
    float64_t lon;    
    float64_t lat;    
    float64_t height; 
} dwGeoPointWGS84;

typedef dwGeoPointWGS84 dwGeoPoint;

typedef struct
{
    dwGeoPointWGS84 position;  
    dwQuaternionf orientation; 

    bool validPosition;    
    bool validOrientation; 

    dwTime_t timestamp; 

} dwGlobalEgomotionResult;

typedef struct
{
    dwConfidence3f position;    
    dwConfidence3f orientation; 

    bool validPosition;    
    bool validOrientation; 

    dwTime_t timestamp; 

} dwGlobalEgomotionUncertainty;

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_initParamsFromRig(dwGlobalEgomotionParameters* params,
                                             dwConstRigHandle_t rigConfiguration,
                                             const char* gpsSensorName);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_initialize(dwGlobalEgomotionHandle_t* handle,
                                      const dwGlobalEgomotionParameters* params,
                                      dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_reset(dwGlobalEgomotionHandle_t handle);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_release(dwGlobalEgomotionHandle_t handle);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_addRelativeMotion(const dwEgomotionResult* egomotionResult,
                                             const dwEgomotionUncertainty* egomotionUncertainty,
                                             dwGlobalEgomotionHandle_t handle);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_addGPSMeasurement(const dwGPSFrame* measurement,
                                             dwGlobalEgomotionHandle_t handle);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_getTimestamp(dwTime_t* timestamp,
                                        dwGlobalEgomotionConstHandle_t handle);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_getEstimate(dwGlobalEgomotionResult* result,
                                       dwGlobalEgomotionUncertainty* uncertainty,
                                       dwGlobalEgomotionConstHandle_t handle);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_computeEstimate(dwGlobalEgomotionResult* result,
                                           dwGlobalEgomotionUncertainty* uncertainty,
                                           dwTime_t timestamp,
                                           dwGlobalEgomotionConstHandle_t handle);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_getHistorySize(size_t* num, dwGlobalEgomotionConstHandle_t handle);

DW_API_PUBLIC
dwStatus dwGlobalEgomotion_getHistoryEntry(dwGlobalEgomotionResult* result,
                                           dwGlobalEgomotionUncertainty* uncertainty,
                                           size_t index,
                                           dwGlobalEgomotionConstHandle_t handle);

#ifdef __cplusplus
}
#endif

#endif // DW_EGOMOTION_GLOBAL_GLOBALEGOMOTION_H_