LocalizationFusion.h

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#ifndef DW_LOCALIZATION_FUSION_H_
#define DW_LOCALIZATION_FUSION_H_

#include <dw/localization/Localization.h>

#ifdef __cplusplus
extern "C" {
#endif

// The maximum number of localization result inputs that fusion supports
#define DW_LOCALIZATION_FUSION_MAX_INPUT_COUNT 3

typedef struct dwLocalizationFusionObject* dwLocalizationFusionHandle_t;

DW_API_PUBLIC
dwStatus dwLocalizationFusion_initialize(dwLocalizationFusionHandle_t* localizationFusion,
                                         uint32_t maxLocalizationResultsCount,
                                         const dwConstMapHandle_t map,
                                         dwContextHandle_t context);

DW_API_PUBLIC
dwStatus dwLocalizationFusion_predictLocalization(dwLocalizationResult* predicted,
                                                  const dwLocalizationResult* prev,
                                                  const dwTransformation3f* predictedToPrev,
                                                  const dwEgomotionRelativeUncertainty* predictedToPrevUncertainty,
                                                  dwTime_t predictionTimestamp);

DW_API_PUBLIC
dwStatus dwLocalizationFusion_localize(dwLocalizationResult* fusedResult,
                                       const dwLocalizationResult* localizationResults,
                                       size_t numResults,
                                       const dwTransformation3f* currToPrev,
                                       const dwEgomotionRelativeUncertainty* currToPrevUncertainty,
                                       dwTime_t timestamp,
                                       dwLocalizationFusionHandle_t localizationFusion);

DW_API_PUBLIC
dwStatus dwLocalizationFusion_setMap(dwConstMapHandle_t map,
                                     dwLocalizationFusionHandle_t localizationFusion);

DW_API_PUBLIC
dwStatus dwLocalizationFusion_reset(dwLocalizationFusionHandle_t localizationFusion);

DW_API_PUBLIC
dwStatus dwLocalizationFusion_release(dwLocalizationFusionHandle_t localizationFusion);

#ifdef __cplusplus
}
#endif

#endif // DW_LOCALIZATION_FUSION_H_