GlobalEgomotion.h File Reference

Detailed Description

NVIDIA DriveWorks API: Global Egomotion Methods

Description: Set of APIs to estimate global egomotion.

Definition in file GlobalEgomotion.h.

Go to the source code of this file.

Data Structures
struct	dwGlobalEgomotionParameters
	Holds initialization parameters for the global egomotion module. More...
struct	dwGlobalEgomotionResult
	Holds global egomotion state estimate. More...
struct	dwGlobalEgomotionUncertainty
	Holds global egomotion uncertainty estimate. More...
struct	dwGNSSCharacteristics
	GNSS Sensor characteristics. More...

Typedefs
typedef struct dwGlobalEgomotionObject const *	dwGlobalEgomotionConstHandle_t
typedef struct dwGlobalEgomotionObject *	dwGlobalEgomotionHandle_t

Functions
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_addGPSMeasurement (const dwGPSFrame *measurement, dwGlobalEgomotionHandle_t handle)
	Adds GPS measurement to the global egomotion module. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_addRelativeMotion (const dwEgomotionResult *egomotionResult, const dwEgomotionUncertainty *egomotionUncertainty, dwGlobalEgomotionHandle_t handle)
	Adds relative egomotion estimate to the global egomotion module. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_computeEstimate (dwGlobalEgomotionResult *result, dwGlobalEgomotionUncertainty *uncertainty, dwTime_t timestamp, dwGlobalEgomotionConstHandle_t handle)
	Computes global state estimate at given timestamp, if necessary by linear interpolation between available history entries. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_getEstimate (dwGlobalEgomotionResult *result, dwGlobalEgomotionUncertainty *uncertainty, dwGlobalEgomotionConstHandle_t handle)
	Get current filter state estimate. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_getHistoryEntry (dwGlobalEgomotionResult *result, dwGlobalEgomotionUncertainty *uncertainty, size_t index, dwGlobalEgomotionConstHandle_t handle)
	Returns an entry from the history array. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_getHistorySize (size_t *num, dwGlobalEgomotionConstHandle_t handle)
	Returns the number of estimates currently stored in the history. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_getTimestamp (dwTime_t *timestamp, dwGlobalEgomotionConstHandle_t handle)
	Get timestamp of current filter estimate. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_initialize (dwGlobalEgomotionHandle_t *handle, const dwGlobalEgomotionParameters *params, dwContextHandle_t ctx)
	Initializes the global egomotion module. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_initParamsFromRig (dwGlobalEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, const char *gpsSensorName)
	Initialize global egomotion parameters from a provided RigConfiguration. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_release (dwGlobalEgomotionHandle_t handle)
	Releases the global egomotion module. More...
DW_API_PUBLIC dwStatus	dwGlobalEgomotion_reset (dwGlobalEgomotionHandle_t handle)
	Resets the state estimate and all history of the global egomotion module. More...