DriveWorks SDK Reference
3.5.78 Release
For Test and Development only

Data Structures | Typedefs | Functions
WorldModelSim.h File Reference

Detailed Description

NVIDIA DriveWorks API: WorldModelSim

Description: This file defines the API of the driveworks experimental world model sim module.

Definition in file WorldModelSim.h.

Go to the source code of this file.

Data Structures

struct  dwWorldModelSimLaneAssignmentArrayBindParams_t
 
struct  dwWorldModelSimObjectArrayBindParams_t
 
struct  dwWorldModelSimParams_t
 Module parameters. More...
 

Typedefs

typedef struct dwWorldModelSimObject const * dwWorldModelSimConstHandle_t
 
typedef struct dwWorldModelSimObject * dwWorldModelSimHandle_t
 

Functions

DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputEgomotionState (dwEgomotionStateHandle_t outputEgoState, dwWorldModelSimHandle_t wmSimHandle)
 Binds output relative egomotion motion model. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputLaneAssignmentArray (const dwWorldModelSimLaneAssignmentArrayBindParams_t *bindParams, dwWorldModelSimHandle_t wmSimHandle)
 Binds output lane assignment array. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputLaneGraph (dwLaneGraph *address, dwWorldModelSimHandle_t wmSimHandle)
 Binds output lanegraph. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputLocalizationResult (dwLocalizationResult *outputLocalizationResult, dwWorldModelSimHandle_t wmSimHandle)
 Binds output dwLocalizationResult handle. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputObjectArray (const dwWorldModelSimObjectArrayBindParams_t *bindParams, dwWorldModelSimHandle_t wmSimHandle)
 Binds output object array. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputTSLObjectBuffer (dwTSLObjectArray *address, dwWorldModelSimHandle_t wmSimHandle)
 Binds output dwTSLObjectArray. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_initialize (dwWorldModelSimHandle_t *wmSimHandle, const dwWorldModelSimParams_t *params, dwConstMapHandle_t mapHandle, dwContextHandle_t contextHandle)
 Initialize World Model Sim. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_process (dwWorldModelSimHandle_t wmSimHandle)
 Process WorldModelSim and populates bound output. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_release (dwWorldModelSimHandle_t wmSimHandle)
 Releases world model sim module. More...
 
DW_API_PUBLIC dwStatus dwWorldModelSim_reset (dwWorldModelSimHandle_t wmSimHandle)
 Reset WorldModelSim. More...
 

Data Structure Documentation

◆ dwWorldModelSimLaneAssignmentArrayBindParams_t

struct dwWorldModelSimLaneAssignmentArrayBindParams_t
Data Fields
dwLaneAssignmentArray * addr
int32_t sensorTypeIdx

◆ dwWorldModelSimObjectArrayBindParams_t

struct dwWorldModelSimObjectArrayBindParams_t
Data Fields
dwObjectArray * addr
const char * sensorName
int32_t sensorRigIdx
int32_t sensorTypeIdx

◆ dwWorldModelSimParams_t

struct dwWorldModelSimParams_t
Data Fields
const char * configFileDDSTransport Config file used to define transport protocol used (relative path to data dir)
const char * domainId ID of Domain used to communicate with DriveSim over DDS.

Typedef Documentation

◆ dwWorldModelSimConstHandle_t

typedef struct dwWorldModelSimObject const* dwWorldModelSimConstHandle_t

Definition at line 91 of file WorldModelSim.h.

◆ dwWorldModelSimHandle_t

typedef struct dwWorldModelSimObject* dwWorldModelSimHandle_t

Definition at line 90 of file WorldModelSim.h.

Function Documentation

◆ dwWorldModelSim_bindOutputEgomotionState()

DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputEgomotionState ( dwEgomotionStateHandle_t  outputEgoState,
dwWorldModelSimHandle_t  wmSimHandle 
)

Binds output relative egomotion motion model.

Parameters
[in]outputEgoStateoutput relative ego state handle to bind
[in]wmSimHandleHandle to world model sim object.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When output egomotion successfuly bound

◆ dwWorldModelSim_bindOutputLaneAssignmentArray()

DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputLaneAssignmentArray ( const dwWorldModelSimLaneAssignmentArrayBindParams_t *  bindParams,
dwWorldModelSimHandle_t  wmSimHandle 
)

Binds output lane assignment array.

Parameters
[in]bindParamsRequired parameters to bind lane assignments array
[in]wmSimHandleHandle to world model sim object.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When array successfuly bound

◆ dwWorldModelSim_bindOutputLaneGraph()

DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputLaneGraph ( dwLaneGraph *  address,
dwWorldModelSimHandle_t  wmSimHandle 
)

Binds output lanegraph.

Parameters
[in]addressAddress to lanegraph allocated memory
[in]wmSimHandleHandle to world model sim object.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When array successfuly bound

◆ dwWorldModelSim_bindOutputLocalizationResult()

DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputLocalizationResult ( dwLocalizationResult *  outputLocalizationResult,
dwWorldModelSimHandle_t  wmSimHandle 
)

Binds output dwLocalizationResult handle.

Parameters
[in]outputLocalizationResultoutput localization result handle to bind
[in]wmSimHandleHandle to world model sim object.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When output dwLocalizationResult handle successfuly bound

◆ dwWorldModelSim_bindOutputObjectArray()

DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputObjectArray ( const dwWorldModelSimObjectArrayBindParams_t *  bindParams,
dwWorldModelSimHandle_t  wmSimHandle 
)

Binds output object array.

Output objects will be copied to the corresponding array based on the sensor an object is associated with.

Parameters
[in]bindParamsRequired parameters to bind output object array
[in]wmSimHandleHandle to world model sim object.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When array successfuly bound

◆ dwWorldModelSim_bindOutputTSLObjectBuffer()

DW_API_PUBLIC dwStatus dwWorldModelSim_bindOutputTSLObjectBuffer ( dwTSLObjectArray *  address,
dwWorldModelSimHandle_t  wmSimHandle 
)

Binds output dwTSLObjectArray.

Parameters
[in]addressHandle to dwTSLObjectArray to bind
[in]wmSimHandleHandle to world model sim object.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When array successfuly bound

◆ dwWorldModelSim_initialize()

DW_API_PUBLIC dwStatus dwWorldModelSim_initialize ( dwWorldModelSimHandle_t *  wmSimHandle,
const dwWorldModelSimParams_t *  params,
dwConstMapHandle_t  mapHandle,
dwContextHandle_t  contextHandle 
)

Initialize World Model Sim.

Parameters
[out]wmSimHandleA pointer to the WMSim object handle to be initialized
[in]paramsModule parameters
[in]mapHandleSpecifies map handle used to generate lanes and localization result
[in]contextHandleSpecifies a handle to the context under which it is created
Returns
DW_SUCCESS wmSimHandle initialized successfully.
DW_INVALID_ARGUMENT Either wmSimHandle or params is nullptr.
DW_BAD_CAST Could not successfully cast context handle to context object.

◆ dwWorldModelSim_process()

DW_API_PUBLIC dwStatus dwWorldModelSim_process ( dwWorldModelSimHandle_t  wmSimHandle)

Process WorldModelSim and populates bound output.

Parameters
[in]wmSimHandlewmSimHandle Handle to world model sim object.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When processing successful

◆ dwWorldModelSim_release()

DW_API_PUBLIC dwStatus dwWorldModelSim_release ( dwWorldModelSimHandle_t  wmSimHandle)

Releases world model sim module.

Parameters
[in]wmSimHandleHandle to world model sim object.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When successfully released.

◆ dwWorldModelSim_reset()

DW_API_PUBLIC dwStatus dwWorldModelSim_reset ( dwWorldModelSimHandle_t  wmSimHandle)

Reset WorldModelSim.

Parameters
[in]wmSimHandlewmSimHandle Handle to reset.
Returns
DW_INVALID_ARGUMENT When an invalid argument is passed in.
DW_SUCCESS When reset successfully