Lane Plan Tracker

Note

SW Release Applicability: This tutorial is applicable to modules in NVIDIA DRIVE Software releases.

Like the Map Tracker in the Maps Module, it is possible to track the current position on a Lane Plan.

dwStatus dwLanePlan_updateCurrentPointWithGlobalPose(const dwMapsGeoPoint* gps,
                                                     const dwMatrix3d* localToENURotation33,
                                                     dwTime_t timestamp,
                                                     bool ignoreHeight,
                                                     dwLanePlanHandle_t lanePlan);

It's also possible to update the with a local coordinate relative to a dwMapsRoadSegment:

dwStatus dwLanePlan_updateCurrentPointWithLocalPose(const dwMapsRoadSegment* referenceRoadSegment,
                                                    const dwVector3f* position,
                                                    const dwMatrix3d* localToENURotation33,
                                                    dwTime_t timestamp,
                                                    dwLanePlanHandle_t lanePlan);

dwLanePlan_updateCurrentPoint() keeps track of the current point on the Lane Plan. Subsequent updates with position, orientation and time allow for a robust tracking along the Lane Plan, avoiding problems at places where the Lane Plan crosses itself.

For a description of the localToENURotation33 parameter, see Local Cartesian Coordinate System in Lane Tree Helper Functions. That parameter describes the current orientation of the car by a rotation matrix that transforms from the car space into ENU (east-north-up) coordinate space. ‘ignoreHeight’ can be set if the current height is unknown or inaccurate.

dwStatus dwLanePlan_getCurrentGeoPoint(dwMapsGeoPoint* pointOnLanePlan,
                                       dwConstLanePlanHandle_t lanePlan);

Returns the current point on the Lane Plan.