DriveWorks SDK Reference
3.5.78 Release
For Test and Development only

ControlConstraints.h File Reference

Go to the source code of this file.

Data Structures

struct  dwSafetyForceFieldControl
 dwSafetyForceFieldControl Control parameters used in Safety Force Field. More...
 
struct  dwSafetyForceFieldControlConstraints
 dwSafetyForceFieldControlConstraints A collection of constraints, which is derived from Safety Force Field, on ego car control parameters: front wheel steering angle (in radian) and longitudinal acceleration (in meter per second squared). Any control parameters that meet the constraints are classified as safe. More...
 
struct  dwSafetyForceFieldMultiControlConstraints
 dwSafetyForceFieldMultiControlConstraints An array of Safety Force Field control constraints. More...
 

Macros

#define DW_SAFETY_FORCE_FIELD_MAX_NUM_CONSTRAINTS   3
 

Enumerations

enum  dwSafetyForceFieldCombinationType {
  DW_SAFETY_FORCE_FIELD_COMBINATION_TYPE_UNION = 0,
  DW_SAFETY_FORCE_FIELD_COMBINATION_TYPE_VOTING = 1
}
 dwSafetyForceFieldCombinationType How control constraints are combined More...
 
enum  dwSafetyForceFieldConeType {
  DW_SAFETY_FORCE_FIELD_CONE_TYPE_WHOLE_SPACE = 0,
  DW_SAFETY_FORCE_FIELD_CONE_TYPE_HALF_SPACE = 1,
  DW_SAFETY_FORCE_FIELD_CONE_TYPE_SECOND_ORDER_CONE = 2,
  DW_SAFETY_FORCE_FIELD_CONE_TYPE_LINE = 3,
  DW_SAFETY_FORCE_FIELD_CONE_TYPE_RAY = 4,
  DW_SAFETY_FORCE_FIELD_CONE_TYPE_POINT = 5
}