NVIDIA DriveWorks API: Egomotion Methods
Description: This file defines the motion models estimating the pose of the vehicle.
Definition in file Egomotion.h.
Go to the source code of this file.
Data Structures | |
struct | dwEgomotionLinearAccelerationFilterParams |
Defines egomotion linear acceleration filter parameters. More... | |
struct | dwEgomotionParameters |
Holds initialization parameters for the Egomotion module. More... | |
struct | dwEgomotionRelativeUncertainty |
Holds egomotion uncertainty estimates for a relative motion estimate. More... | |
struct | dwEgomotionResult |
Holds egomotion state estimate. More... | |
struct | dwEgomotionSensorCharacteristics |
Sensor measurement noise characteristics. More... | |
struct | dwEgomotionSuspensionParameters |
Suspension model type and parameters. More... | |
struct | dwEgomotionUncertainty |
Holds egomotion uncertainty estimates. More... | |
Typedefs | |
typedef struct dwEgomotionObject const * | dwEgomotionConstHandle_t |
typedef struct dwEgomotionObject * | dwEgomotionHandle_t |
Functions | |
DW_API_PUBLIC dwStatus | dwEgomotion_addIMUMeasurement (const dwIMUFrame *imu, dwEgomotionHandle_t obj) |
Adds an IMU frame to the egomotion module. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_addOdometry (dwMotionModelMeasurement measuredType, float32_t measuredValue, dwTime_t timestamp, dwEgomotionHandle_t obj) |
Notifies the egomotion module of a new odometry measurement. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_addVehicleState (const dwVehicleIOState *state, dwEgomotionHandle_t obj) |
Notifies the egomotion module of a changed vehicle state. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_applyRelativeTransformation (dwTransformation3f *newVehicle2World, const dwTransformation3f *poseOld2New, const dwTransformation3f *oldVehicle2World) |
Applies the estimated relative motion as returned by dwEgomotion_computeRelativeTransformation() to a given vehicle pose. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_computeRelativeTransformation (dwTransformation3f *poseAtoB, dwEgomotionRelativeUncertainty *uncertainty, dwTime_t timestamp_a, dwTime_t timestamp_b, dwEgomotionConstHandle_t obj) |
Computes the relative transformation between two timestamps and the uncertainty of this transform. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_computeSteeringAngleFromIMU (float32_t *steeringAngle, float32_t *inverseSteeringR, const dwIMUFrame *imuMeasurement, dwEgomotionConstHandle_t obj) |
Computes steering angle of the vehicle based on IMU measurement. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_estimate (dwEgomotionResult *pose, dwEgomotionUncertainty *uncertainty, dwTime_t timestamp_us, dwEgomotionConstHandle_t obj) |
Estimates the state for a given timestamp. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_getEstimation (dwEgomotionResult *result, dwEgomotionConstHandle_t obj) |
Gets the latest state estimate. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_getEstimationTimestamp (dwTime_t *timestamp, dwEgomotionConstHandle_t obj) |
Gets the timestamp of the latest state estimate. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_getHistoryElement (const dwEgomotionResult **pose, const dwEgomotionUncertainty **uncertainty, size_t index, dwEgomotionConstHandle_t obj) |
Returns an element from the motion history that is currently available. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_getHistorySize (size_t *num, dwEgomotionConstHandle_t obj) |
Returns the number of elements currently stored in the history. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_getMotionModel (dwMotionModel *model, dwEgomotionConstHandle_t obj) |
Returns the type of the motion model used. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_getUncertainty (dwEgomotionUncertainty *result, dwEgomotionConstHandle_t obj) |
Gets the latest state estimate uncertainties. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_hasEstimation (bool *result, dwEgomotionConstHandle_t obj) |
Check whether has state estimate. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_initialize (dwEgomotionHandle_t *obj, const dwEgomotionParameters *params, dwContextHandle_t ctx) |
Initializes the egomotion module. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_initParamsFromRig (dwEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, const char *imuSensorName, const char *canSensorName) |
Initialize egomotion parameters from a provided RigConfiguration. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_initParamsFromRigByIndex (dwEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, uint32_t imuSensorIdx, uint32_t canSensorIdx) |
Same as dwEgomotion_initParamsFromRig however uses sensor indices in rigConfiguration instead of their names. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_release (dwEgomotionHandle_t obj) |
Releases the egomotion module. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_reset (dwEgomotionHandle_t obj) |
Resets the state estimate and all history of the egomotion module. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_steeringAngleToSteeringWheelAngle (float32_t *steeringWheelAngle, float32_t steeringAngle, dwEgomotionHandle_t obj) |
Convert steering angle to steering wheel angle. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_steeringWheelAngleToSteeringAngle (float32_t *steeringAngle, float32_t steeringWheelAngle, dwEgomotionHandle_t obj) |
Convert steering wheel angle to steering angle. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_update (dwTime_t timestamp_us, dwEgomotionHandle_t obj) |
Runs the motion model estimation for a given timestamp. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_updateIMUExtrinsics (const dwTransformation3f *imuToRig, dwEgomotionHandle_t obj) |
This method updates the IMU extrinsics to convert from the IMU coordinate system to the vehicle rig coordinate system. More... | |
DW_API_PUBLIC dwStatus | dwEgomotion_updateVehicle (const dwVehicle *vehicle, dwEgomotionHandle_t obj) |
This method updates the egomotion module with an updated vehicle. More... | |