49 #ifndef DW_SENSORS_RADAR_RADAR_H_ 50 #define DW_SENSORS_RADAR_RADAR_H_ 52 #include <dw/core/Config.h> 122 #pragma pack(push, 1) 518 #endif // DW_SENSORS_RADAR_RADAR_H_ float32_t rcs
Compensated reflection amplitude (dB)
float32_t Ax
X-component (m/s^2) of the acceleration.
uint32_t numScanTypes
Number of supported scan types.
float32_t dopplerAmbiguity
Doppler ambiguity free range.
float32_t acceleration
Longitudinal acceleration (m/s^2)
float32_t Ay
Y-component (m/s^2) of the aceleration in the azimuth direction.
float32_t radius
Radial distance (m)
dwRadarScanType scanType
Type of scan.
DW_API_PUBLIC dwStatus dwSensorRadar_returnData(const dwRadarScan *scan, dwSensorHandle_t sensor)
Returns the data read to the internal pool.
float32_t yaw
Yaw angle of sensor (radians)
float32_t radialVelocity
Radial velocity (m/s)
float32_t x
X-position (m)
NVIDIA DriveWorks API: Core Types
Defines the structure for reporting sensor mount position.
Defines the structure for a complete radar scan.
float float32_t
Specifies POD types.
uint8_t isDecodingOn
Indicates whether decoding is enabled.
dwRadarReturnType returnType
Type of radar return.
Processed tracker output.
dwRadarRange range
Scan range.
bool sensorAligned
Indicates if the sensor is aligned.
DW_API_PUBLIC dwStatus dwSensorRadar_setVehicleState(dwRadarVehicleState *data, dwSensorHandle_t sensor)
Sends vehicle dynamics information to the radar.
float32_t Vx
X-component (m/s) of the velocity.
float32_t Vx
X-component (m/s) of the velocity in the azimuth direction.
bool sensorOK
Indicaes if the is OK.
float32_t y
Y-position (m)
float32_t z
Z-position (m)
DW_API_PUBLIC dwStatus dwSensorRadar_readData(const dwRadarScan **data, const dwRadarScanType type, const dwTime_t timeout_us, dwSensorHandle_t sensor)
Reads a single packet, which might be an entire scan or a fraction of a scan, which is sensor depende...
dwRadarDynamicState dynamicState
Dynamic state of the object.
float32_t roll
Roll angle of sensor (radians)
float32_t wheelbase
Size of wheel-base (m)
float32_t x
X-position (m) of sensor mounting in AUTOSAR-coordinates from CoG.
float32_t Vy
Y-component (m/s) of the velocity in the azimuth direction.
float32_t radius
Radial distance (m)
float32_t Ay
Y-component (m/s^2) of the aceleration.
Stopped (was moving, now stationary)
uint32_t id
Radar-provided track id.
float32_t damping
Damping of radome (db)
DW_API_PUBLIC dwStatus dwSensorRadar_getProperties(dwRadarProperties *radarProperties, dwSensorHandle_t sensor)
Gets information about the Radar sensor.
struct dwSensorObject * dwSensorHandle_t
Handle representing a sensor.
float32_t Vy
Y-component (m/s) of the velocity.
uint32_t scanIndex
Sensor-provided scan index.
dwTime_t sensorTimestamp
Sensor timestamp for this scan (us)
dwStatus
Status definition.
NVIDIA DriveWorks API: Sensors
uint32_t numReturns
Number of radar returns in this scan.
void * data
Pointer to the array of returns (to be casted based on return type)
DW_API_PUBLIC dwStatus dwSensorRadar_readScan(const dwRadarScan **data, const dwTime_t timeout_us, dwSensorHandle_t sensor)
Reads a one scan chunk.
dwRadarDynamicState
Defines the dynamic state of the radar return.
Defines the type of scan (combination of return type & range)
Defines the return structure for sensor status messages.
float32_t radialVelocity
Radial velocity (m/s)
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
DW_API_PUBLIC dwStatus dwSensorRadar_toggleScanType(bool enable, dwRadarScanType scanType, dwSensorHandle_t sensor)
Enables/Disables a scan type for the radar sensor.
float32_t azimuthRate
Rate of change of azimuth angle (radians/s)
DW_API_PUBLIC dwStatus dwSensorRadar_setMountPosition(dwRadarMountPosition *data, dwSensorHandle_t sensor)
Sends the radar mount position information to the radar.
bool sensorDisturbed
Indicates if the sensor is disturbed due to interference.
DW_API_PUBLIC dwStatus dwSensorRadar_setDataDecoding(bool enable, dwSensorHandle_t sensor)
Enables/disables the decoding of the Radar packets, which incurs in additional CPU load...
Defines the properties of the radar.
uint32_t packetsPerScan
of packets per scan (Note: will be deprecated soon)
bool sensorBlock
Indicates if the sensor is blocked.
float32_t azimuth
Azimuth angle (radians)
dwRadarReturnType
Defines the type of radar return.
float32_t Ax
X-component (m/s^2) of the acceleration in the azimuth direction.
float32_t azimuth
Azimuth angle (radians)
float32_t radialAcceleration
Radial acceleration (m/s^2)
dwTransformation3f radarPosition
Radar position.
float32_t confidence
Confidence of object existence (range: 0-1);.
uint32_t inputPacketsPerSecond
Number of input odometry packets per second.
dwRadarRange
Defines the range of radar return.
DW_API_PUBLIC dwStatus dwSensorRadar_returnScan(const dwRadarScan *scan, dwSensorHandle_t sensor)
Returns the data covering an entire scan read to the internal pool.
uint32_t age
Age of tracked object (in scans)
float32_t y
Y-position (m)
float32_t x
X-position (m)
float32_t y
Y-position (m) of sensor mounting in AUTOSAR-coordinates from CoG.
float32_t pitch
Pitch angle of sensor (radians)
Defines the structure for reporting current vehicle dynamics state.
Sensor status information.
float32_t yawRate
Yaw rate (radians/s)
float32_t rcs
Reflection amplitude (dB)
float32_t radialAcceleration
Radial acceleration (m/s^2)
The structs below are serialized in binary and the layout is assummed to be packed.
uint32_t scansPerSecond
Number of scans (of a particular type) per second.
bool isReversed
Indicates if the sensor is reversed from its default orientation.
dwTime_t hostTimestamp
Host timestamp at reception of first packet belonging to this scan (us)
float32_t z
Z-position (m) of sensor mounting in AUTOSAR-coordinates from CoG.
bool elevationValid
Indicates validity of z position.
uint32_t sensorId
Id of the sensor (vendor-specific)
bool elevationValidity
Indicates validity of the elevation angle.
float32_t velocity
Longitudinal velocity (m/s)
DW_API_PUBLIC dwStatus dwSensorRadar_processRawData(const dwRadarScan **data, const uint8_t *rawData, size_t size, dwSensorHandle_t sensor)
Decodes RAW data previously read onto the application side structure.
float32_t lateralAcceleration
Lateral acceleration (m/s^2)
float32_t elevationAngle
Angle of elevation (radians)