SafetyForceField_processpipeline.h

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#ifndef DW_PLANNING_SAFETYFORCEFIELD_PROCESSPIPELINE_H_
#define DW_PLANNING_SAFETYFORCEFIELD_PROCESSPIPELINE_H_

#include <dw/planning/safetyforcefield/SafetyForceField.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum {
    DW_SAFETY_FORCE_FIELD_STAGE_CPU_PRE_PROCESSING = 0,
    DW_SAFETY_FORCE_FIELD_STAGE_GPU_PROCESS        = 1,
    DW_SAFETY_FORCE_FIELD_STAGE_CPU_SYNC_PROCESS   = 2,
} dwSafetyForceFieldStage;

DW_API_PUBLIC dwStatus dwSafetyForceField_bindInputObjects(dwObjectArray* objects,
                                                           dwBindSlot slot,
                                                           dwSafetyForceFieldHandle_t handle);

DW_API_PUBLIC dwStatus dwSafetyForceField_bindInputVehicleIOState(const dwVehicleIOState* vioState,
                                                                  dwSafetyForceFieldHandle_t handle);

DW_API_PUBLIC dwStatus dwSafetyForceField_bindInputLaneGraph(const dwLaneGraph* lg,
                                                             dwSafetyForceFieldHandle_t handle);

DW_API_PUBLIC dwStatus dwSafetyForceField_processStage(dwSafetyForceFieldStage stage,
                                                       dwSafetyForceFieldHandle_t handle);

#ifdef __cplusplus
}
#endif

#endif // DW_PLANNING_SAFETYFORCEFIELD_PROCESSPIPELINE_H_