MapPerceptionTypes.h

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#ifndef DW_MAPPERCEPTION_TYPES_H_
#define DW_MAPPERCEPTION_TYPES_H_

#include <dw/core/Types.h>
#include <dw/core/Exports.h>
#include <dw/perception/landmarks/camera/LandmarkDetectorTypes.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef enum dwMapPerceptionLaneMarkType {
    DW_MAPPERCEPTION_LANETYPE_UNDEFINED       = DW_LANEMARK_TYPE_UNDEFINED, 
    DW_MAPPERCEPTION_LANETYPE_SOLID           = DW_LANEMARK_TYPE_SOLID,
    DW_MAPPERCEPTION_LANETYPE_DASHED          = DW_LANEMARK_TYPE_LONG_DASHED,
    DW_MAPPERCEPTION_LANETYPE_ROAD_BOUNDARY   = DW_LANEMARK_TYPE_BARRIER,
    DW_MAPPERCEPTION_LANETYPE_CENTER_PATH     = 1000,
    DW_MAPPERCEPTION_LANETYPE_LEFT_PATH_EDGE  = 1001,
    DW_MAPPERCEPTION_LANETYPE_RIGHT_PATH_EDGE = 1002,
    DW_MAPPERCEPTION_NUM_LANETYPES            = 7
} dwMapPerceptionLaneMarkType;

typedef enum dwMapPerceptionIntersectionType {
    DW_MAPPERCEPTION_INTERSECTION_TYPE_UNDEFINED            = 0,
    DW_MAPPERCEPTION_INTERSECTION_TYPE_CROSSWALK            = 1,
    DW_MAPPERCEPTION_INTERSECTION_TYPE_INTERSECTION         = 2,
    DW_MAPPERCEPTION_INTERSECTION_TYPE_CROSSINGINTERSECTION = 3,
    DW_MAPPERCEPTION_INTERSECTION_TYPE_GOREAREA             = 4,
    DW_MAPPERCEPTION_INTERSECTION_TYPE_COUNT                = 5
} dwMapPerceptionIntersectionType;

typedef enum dwMapPerceptionRoadMarkType {
    DW_MAPPERCEPTION_ROADMARK_TYPE_UNDEFINED            = 0,
    DW_MAPPERCEPTION_ROADMARK_TYPE_CROSSWALK            = 1,
    DW_MAPPERCEPTION_ROADMARK_TYPE_INTERSECTION         = 2,
    DW_MAPPERCEPTION_ROADMARK_TYPE_CROSSINGINTERSECTION = 3,
    DW_MAPPERCEPTION_ROADMARK_TYPE_GOREAREA             = 4,
    DW_MAPPERCEPTION_ROADMARK_TYPE_TEXTSHAPEMARK        = 5
} dwMapPerceptionRoadMarkType;

typedef enum dwMapPerceptionWaitConditionType {
    DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_UNDEFINED   = 0,
    DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_STOP_LINE   = 1,
    DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_SIGNAL_LINE = 2,
    DW_MAPPERCEPTION_WAIT_CONDITION_TYPE_COUNT       = 3
} dwMapPerceptionWaitConditionType;

typedef enum dwMapPerceptionSignType {
    DW_MAPPERCEPTION_SIGNTYPE_UNDEFINED    = 0, 
    DW_MAPPERCEPTION_SIGNTYPE_TRAFFICSIGN  = 1,
    DW_MAPPERCEPTION_SIGNTYPE_TRAFFICLIGHT = 2,
    DW_MAPPERCEPTION_SIGNTYPE_COUNT        = 3
} dwMapPerceptionSignType;

typedef enum dwMapPerceptionTrafficLightState {
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_NOT_FACING_OR_STATELESS       = 0,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_DOWN_ARROW              = 1,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW              = 2,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW             = 3,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID                   = 4,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_UP_ARROW                = 5,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_LEFT_ARROW                = 6,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_RIGHT_ARROW               = 7,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_SOLID                     = 8,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_LEFT_ARROW             = 9,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_RIGHT_ARROW            = 10,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_SOLID                  = 11,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW_GREEN_SOLID  = 12,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_LEFT_ARROW_RED_SOLID    = 13,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW_GREEN_SOLID = 14,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_RIGHT_ARROW_RED_SOLID   = 15,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID_RED_LEFT_ARROW    = 16,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_GREEN_SOLID_RED_RIGHT_ARROW   = 17,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_LEFT_ARROW_RED_SOLID      = 18,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_RIGHT_ARROW_RED_SOLID     = 19,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_LANE_CLOSED                   = 20,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_NOT_A_CAR_LIGHT               = 21,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_RED_SOLID_BLINK               = 22,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_SOLID_BLINK            = 23,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_YELLOW_LEFT_ARROW_BLINK       = 24,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_UNKNOWN                       = 25,
    DW_MAPPERCEPTION_TRAFFIC_LIGHT_STATE_COUNT
} dwMapPerceptionTrafficLightState;

typedef enum dwMapPerceptionSpeedbumpType {
    DW_MAPPERCEPTION_SPEEDBUMP_TYPE_INVALID        = 0,
    DW_MAPPERCEPTION_SPEEDBUMP_TYPE_PITCHOVERVEL   = 1,
    DW_MAPPERCEPTION_SPEEDBUMP_TYPE_PITCHOVERACCEL = 2,
    DW_MAPPERCEPTION_SPEEDBUMP_TYPE_VERTACCEL      = 3,
    DW_MAPPERCEPTION_SPEEDBUMP_TYPE_CONSOLIDATED   = 4
} dwMapPerceptionSpeedbumpType;

typedef struct dwMapPerceptionGeoPose
{
    float64_t latitude;
    float64_t longitude;
    float64_t altitude;
    dwQuaternionf quaternion; 

    bool hasCovariance;            
    dwMatrix3f locationCovariance; 
    dwMatrix3f rotationCovariance; 
} dwMapPerceptionGeoPose;

DW_API_PUBLIC
dwStatus dwMapPerceptionGeoPose_default(dwMapPerceptionGeoPose* pose);

DW_API_PUBLIC
dwStatus dwMapPerceptionGeoPose_init(dwMapPerceptionGeoPose* pose,
                                     float64_t latitude, float64_t longitude, float64_t altitude,
                                     dwQuaternionf const* quaternion,
                                     dwMatrix3f const* locationCovariance,
                                     dwMatrix3f const* rotationCovariance);

DW_API_PUBLIC
dwStatus dwMapPerceptionGeoPose_invalid(dwMapPerceptionGeoPose* pose);

#ifdef __cplusplus
}
#endif

#endif // DW_MAPPERCEPTION_TYPES_H_