SafetyForceField.h File Reference

Detailed Description

NVIDIA DriveWorks API: Safety Force Field

Description: This file defines the API of the driveworks safety force field module to check whether a desired control is safe, i.e. avoids collision with obstacles.

Definition in file SafetyForceField.h.

Go to the source code of this file.

Data Structures
struct	dwSafetyForceFieldMetrics
struct	dwSafetyForceFieldParams
struct	dwSafetyForceFieldPerActor
struct	dwSafetyForceFieldRequest
	Request for safety force field auto engagement. More...
struct	dwSafetyForceFieldState

Macros
#define	DW_SAFETY_FORCE_FIELD_MAX_NUM_ACTORS_LIMIT   150
#define	DW_SAFETY_FORCE_FIELD_MAX_NUM_CLOSE_ACTORS   10
	for roadcast More...
#define	DW_SAFETY_FORCE_FIELD_METRICS_MAX_NUM_COLLIDING_OBJECTS   200
#define	DW_SAFETY_FORCE_FIELD_NUM_SLICES   16
#define	DW_SAFETY_FORCE_FIELD_NUM_VERTICES_EXPANDING_CLAIMED_SETS   6

Typedefs
typedef struct dwSafetyForceFieldObject const *	dwConstSafetyForceFieldHandle_t
typedef struct dwSafetyForceFieldObject *	dwSafetyForceFieldHandle_t

Functions
DW_API_PUBLIC dwStatus	dwSafetyForceField_combineControlConstraints (dwSafetyForceFieldMultiControlConstraints *out, const dwSafetyForceFieldControlConstraints *ins, uint32_t inCount, dwSafetyForceFieldCombinationType type, uint32_t constraintBits)
	Helper function to combine control constraints. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_getControlConstraints (dwSafetyForceFieldControlConstraints *constraints, dwSafetyForceFieldHandle_t handle)
	Getter of the SFF control constraints for actuation for safety. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_getControlImage (dwImageHandle_t *img, const dwSafetyForceFieldControl *beforeActuation, const dwSafetyForceFieldControl *afterActuation, float32_t steeringLimit, float32_t minAccel, float32_t maxAccel, float32_t steerRange, float32_t accelRange, dwSafetyForceFieldHandle_t handle)
	Control image getter. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_getCUDAStream (cudaStream_t *stream, dwSafetyForceFieldHandle_t handle)
	Get the cuda stream to be used. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_getMetrics (dwSafetyForceFieldMetrics *metrics, dwSafetyForceFieldHandle_t handle)
	Getter of statistics of safety force field collisions. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_getState (dwSafetyForceFieldState *state, const dwSafetyForceFieldControl *beforeActuation, const dwSafetyForceFieldControl *afterActuation, bool relative, dwSafetyForceFieldHandle_t handle)
	Getter of SFF state for roadcast. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_initDefaultParams (dwSafetyForceFieldParams *params)
	Initialize module parameters with default values. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_initialize (dwSafetyForceFieldHandle_t *handle, const dwSafetyForceFieldParams *params, dwContextHandle_t context)
	Initialize a safety force field module. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_initializeControlConstraints (dwSafetyForceFieldControlConstraints *c)
	Helper function to initialize control constraints. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_initializeMultiControlConstraints (dwSafetyForceFieldMultiControlConstraints *c)
	Helper function to initialize multi control constraints. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_process (dwObjectArray **objectsList, uint32_t numObjectArrays, const dwVehicleIOState *vioState, const dwLaneGraph *lg, dwSafetyForceFieldHandle_t handle)
	Main process. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_release (dwSafetyForceFieldHandle_t handle)
	Release the safety force field module. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_reset (dwSafetyForceFieldHandle_t handle)
	Reset the safety force field module. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_setCUDAStream (cudaStream_t stream, dwSafetyForceFieldHandle_t handle)
	Set the cuda stream to be used. More...
DW_API_PUBLIC dwStatus	dwSafetyForceField_setEgomotion (dwEgomotionConstHandle_t egomotion, dwSafetyForceFieldHandle_t handle)
	Bind egomotion model handle. More...