Accessing Vehicle Properties and Sensors From a Rig File

Note

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

The following code snippets shows the general structure of a program that uses a rig configuration and enumerate / query sensor properties.
The rig module can be initialized from a rig file:

dwContextHandle_t contextHandle = DW_NULL_HANDLE;
dwRigHandle_t rigHandle = DW_NULL_HANDLE;
dwContextParameters contextParams{};

dwInitialize(&contextHandle, DW_VERSION, &contextParams);

dwRig_initializeFromFile(&rigHandle, contextHandle, rigconfigFilename);

Afterwards we can easily access the vehicle properties:

dwVehicle const* vehicle;
dwRig_getVehicle(&vehicle, rigHandle);

As well as all sensors contained in the file:

dwRig_getSensorCount(&sensorCount, ...);
for(uint32_t sensorID; sensorID < sensorCount; ++sensorID)
{
    dwRig_getSensorProtocol(&sensorProtocol, sensorID, rigHandle);
    dwRig_getSensorParameter(&sensorParameter, sensorID, rigHandle);
    dwRig_getSensorName(&sensorName, sensorID, rigHandle);
    dwRig_getNominalSensorToRigTransformation(&transformation, sensorID, rigHandle);
    dwRig_getSensorToRigTransformation(&transformation, sensorID, rigHandle);
}

Finally we can release all handles:

dwRig_release(rigHandle);
dwRelease(contextHandle);

For the full implementation refer to Rig Configuration Sample