Detailed Description

Defines the obstacle data structures and APIs.

Data Structures
struct	dwObstacle

struct	dwObstacleArray

struct	dwObstacleLink
	For every obstacle, link information provides necessary info to access related obstacles across multiple obstacle array shards. More...

struct	dwObstacleLinkArray
	dwObstacleArray can be paired with link array information which provides access information across multiple dwObstacleArray shards. More...

struct	dwObstacleRDM

struct	dwObstacleSector

struct	dwObstacleSegment

struct	dwObstacleSilhouette

struct	dwObstacleSilhouetteArray

Macros
#define	DW_OBSTACLE_ARRAY_MAX_COUNT 1000

#define	DW_OBSTACLE_BOUNDARY_POINT_MAX_COUNT 30u

#define	DW_OBSTACLE_CLASS_ANIMAL_BASE DW_OBSTACLE_CLASS_IS_ANIMAL + DW_OBSTACLE_CLASS_IS_ANIMATE

#define	DW_OBSTACLE_CLASS_BIKE_BASE DW_OBSTACLE_CLASS_IS_BIKE + DW_OBSTACLE_CLASS_IS_ANIMATE

#define	DW_OBSTACLE_CLASS_IS_ANIMAL (1 << 13)
	animal mask More...

#define	DW_OBSTACLE_CLASS_IS_ANIMATE (1 << 8)
	Canonical classification bits for fast filtering These bits represent the super-class, while all bits represent sub-class. More...

#define	DW_OBSTACLE_CLASS_IS_BIKE (1 << 11)
	wheeled VRU mask More...

#define	DW_OBSTACLE_CLASS_IS_OBJECT (1 << 14)
	inanimate object (e.g cone) mask More...

#define	DW_OBSTACLE_CLASS_IS_PEDESTRIAN (1 << 12)
	pedestrian mask More...

#define	DW_OBSTACLE_CLASS_IS_UNDEFINED (1 << 15)
	undefined object More...

#define	DW_OBSTACLE_CLASS_IS_VEHICLE (1 << 10)
	vehicle mask More...

#define	DW_OBSTACLE_CLASS_IS_VIRTUAL (1 << 9)
	non physical obstacles mask More...

#define	DW_OBSTACLE_CLASS_OBJECT_BASE DW_OBSTACLE_CLASS_IS_OBJECT

#define	DW_OBSTACLE_CLASS_PEDESTRIAN_BASE DW_OBSTACLE_CLASS_IS_PEDESTRIAN + DW_OBSTACLE_CLASS_IS_ANIMATE

#define	DW_OBSTACLE_CLASS_UNDEFINED_ANIMATE_BASE DW_OBSTACLE_CLASS_IS_UNDEFINED + DW_OBSTACLE_CLASS_IS_ANIMATE

#define	DW_OBSTACLE_CLASS_UNDEFINED_STATIC_BASE DW_OBSTACLE_CLASS_IS_UNDEFINED

#define	DW_OBSTACLE_CLASS_VEHICLE_BASE DW_OBSTACLE_CLASS_IS_VEHICLE + DW_OBSTACLE_CLASS_IS_ANIMATE
	Base offsets for object classes. More...

#define	DW_OBSTACLE_MAX_LINKS 16

#define	DW_OBSTACLE_MAX_SENSOR_COUNT 64

#define	DW_OBSTACLE_RDF_MAX_SECTORS 4000

#define	DW_OBSTACLE_SECTOR_MAX_SEGMENTS 10

#define	DW_OBSTACLE_SILHOUETTE_MAX_POINTS 128

#define	DW_OBSTACLE_SILHOUETTE_MAX_VERTICES

#define	DW_OBSTACLE_STATE_MOVING (1 << 9)

#define	DW_OBSTACLE_STATE_NOTMOVING (1 << 8)
	Bitmasks modifiers of obstacle state. More...

Enumerations
enum	dwObjectClass { DW_OBJECT_CLASS_CAR = 0, DW_OBJECT_CLASS_TRAFFIC_SIGN = 1, DW_OBJECT_CLASS_BICYCLE = 2, DW_OBJECT_CLASS_PEDESTRIAN = 3, DW_OBJECT_CLASS_TRAFFIC_LIGHT = 4, DW_OBJECT_CLASS_CURB = 5, DW_OBJECT_CLASS_OTHER = 6, DW_OBJECT_CLASS_UNKNOWN = 7, DW_OBJECT_CLASS_NUM_CLASSES }
	Object classes known to DriveWorks. More...

enum	dwObstacleClass { DW_OBSTACLE_CLASS_INVALID = 0, DW_OBSTACLE_CLASS_VEHICLE_UNKNOWN = DW_OBSTACLE_CLASS_VEHICLE_BASE + 0, DW_OBSTACLE_CLASS_VEHICLE_CAR = DW_OBSTACLE_CLASS_VEHICLE_BASE + 1, DW_OBSTACLE_CLASS_VEHICLE_TRUCK = DW_OBSTACLE_CLASS_VEHICLE_BASE + 2, DW_OBSTACLE_CLASS_VEHICLE_BUS = DW_OBSTACLE_CLASS_VEHICLE_BASE + 3, DW_OBSTACLE_CLASS_VEHICLE_EMERGENCY = DW_OBSTACLE_CLASS_VEHICLE_BASE + 4, DW_OBSTACLE_CLASS_VEHICLE_CONSTRUCTION = DW_OBSTACLE_CLASS_VEHICLE_BASE + 5, DW_OBSTACLE_CLASS_VEHICLE_POLICE = DW_OBSTACLE_CLASS_VEHICLE_BASE + 6, DW_OBSTACLE_CLASS_VEHICLE_SCHOOL_BUS = DW_OBSTACLE_CLASS_VEHICLE_BASE + 7, DW_OBSTACLE_CLASS_BIKE_UNKNOWN = DW_OBSTACLE_CLASS_BIKE_BASE + 0, DW_OBSTACLE_CLASS_BIKE = DW_OBSTACLE_CLASS_BIKE_BASE + 1, DW_OBSTACLE_CLASS_BIKE_MOTOR = DW_OBSTACLE_CLASS_BIKE_BASE + 2, DW_OBSTACLE_CLASS_PEDESTRIAN_UNKNOWN = DW_OBSTACLE_CLASS_PEDESTRIAN_BASE + 0, DW_OBSTACLE_CLASS_PEDESTRIAN_ADULT = DW_OBSTACLE_CLASS_PEDESTRIAN_BASE + 1, DW_OBSTACLE_CLASS_PEDESTRIAN_CHILD = DW_OBSTACLE_CLASS_PEDESTRIAN_BASE + 2, DW_OBSTACLE_CLASS_PEDESTRIAN_CONSTRUCTION_WORKER = DW_OBSTACLE_CLASS_PEDESTRIAN_BASE + 3, DW_OBSTACLE_CLASS_PEDESTRIAN_OFFICIAL = DW_OBSTACLE_CLASS_PEDESTRIAN_BASE + 4, DW_OBSTACLE_CLASS_ANIMAL_UNKNOWN = DW_OBSTACLE_CLASS_ANIMAL_BASE + 0, DW_OBSTACLE_CLASS_ANIMAL_SMALL = DW_OBSTACLE_CLASS_ANIMAL_BASE + 1, DW_OBSTACLE_CLASS_ANIMAL_MEDIUM = DW_OBSTACLE_CLASS_ANIMAL_BASE + 2, DW_OBSTACLE_CLASS_ANIMAL_LARGE = DW_OBSTACLE_CLASS_ANIMAL_BASE + 3, DW_OBSTACLE_CLASS_OBJECT_UNKNOWN = DW_OBSTACLE_CLASS_OBJECT_BASE + 0, DW_OBSTACLE_CLASS_OBJECT_HAZARD = DW_OBSTACLE_CLASS_OBJECT_BASE + 1, DW_OBSTACLE_CLASS_OBJECT_OFFICIAL = DW_OBSTACLE_CLASS_OBJECT_BASE + 2, DW_OBSTACLE_CLASS_OBJECT_CONE = DW_OBSTACLE_CLASS_OBJECT_BASE + 3, DW_OBSTACLE_CLASS_OBJECT_CURB = DW_OBSTACLE_CLASS_OBJECT_BASE + 4, DW_OBSTACLE_CLASS_OBJECT_BARRIER = DW_OBSTACLE_CLASS_OBJECT_BASE + 5, DW_OBSTACLE_CLASS_OBJECT_PHYSICAL_LANE_LINE = DW_OBSTACLE_CLASS_OBJECT_BASE + 6, DW_OBSTACLE_CLASS_OBJECT_HARD_OVERHANG = DW_OBSTACLE_CLASS_OBJECT_BASE + 7, DW_OBSTACLE_CLASS_OBJECT_SOFT_OVERHANG = DW_OBSTACLE_CLASS_OBJECT_BASE + 8, DW_OBSTACLE_CLASS_OBJECT_SPEED_BUMP = DW_OBSTACLE_CLASS_OBJECT_BASE + 9, DW_OBSTACLE_CLASS_OBJECT_POT_HOLE = DW_OBSTACLE_CLASS_OBJECT_BASE + 10, DW_OBSTACLE_CLASS_OBJECT_NEGATIVE = DW_OBSTACLE_CLASS_OBJECT_BASE + 11, DW_OBSTACLE_CLASS_OBJECT_FORBIDDEN = DW_OBSTACLE_CLASS_OBJECT_BASE + 12, DW_OBSTACLE_CLASS_UNDEFINED_STATIC = DW_OBSTACLE_CLASS_UNDEFINED_STATIC_BASE + 0, DW_OBSTACLE_CLASS_UNDEFINED_ANIMATE = DW_OBSTACLE_CLASS_UNDEFINED_ANIMATE_BASE + 0, DW_OBSTACLE_CLASS_FORBIDDEN_LANE_LINE = DW_OBSTACLE_CLASS_IS_VIRTUAL + 1, DW_OBSTACLE_CLASS_CROSSABLE_LANE_LINE = DW_OBSTACLE_CLASS_IS_VIRTUAL + 2, DW_OBSTACLE_CLASS_GORE_AREA = DW_OBSTACLE_CLASS_IS_VIRTUAL + 3, DW_OBSTACLE_CLASS_OCCLUSION = DW_OBSTACLE_CLASS_IS_VIRTUAL + 4 }
	Obstacle class enumeration. More...

enum	dwObstacleProperties { DW_OBSTACLE_PROPERTIES_IS_NONE = 0, DW_OBSTACLE_PROPERTIES_IS_LOW_CONFIDENCE = (1 << 8), DW_OBSTACLE_PROPERTIES_IS_ON_SENSOR_BOUNDARY = (1 << 9), DW_OBSTACLE_PROPERTIES_IS_PARTIALLY_OBSERVED = (1 << 10), DW_OBSTACLE_PROPERTIES_IS_AT_RANGE_LIMIT = (1 << 11) }

enum	dwObstacleRegionClass { DW_OBSTACLE_REGION_INVALID = 0, DW_OBSTACLE_REGION_DRIVABLE = (1 << 8), DW_OBSTACLE_REGION_STATIC = (1 << 9), DW_OBSTACLE_REGION_ANIMATE = (1 << 10), DW_OBSTACLE_REGION_NOT_DRIVABLE = (1 << 11), DW_OBSTACLE_REGION_NOT_ANIMATE = (1 << 12), DW_OBSTACLE_REGION_NOT_STATIC = (1 << 13), DW_OBSTACLE_REGION_UNKNOWN = (1 << 14) }

enum	dwObstacleState { DW_OBSTACLE_STATE_INVALID = 0, DW_OBSTACLE_STATE_INACTIVE = DW_OBSTACLE_STATE_NOTMOVING + 0, DW_OBSTACLE_STATE_PARKED = DW_OBSTACLE_STATE_NOTMOVING + 1, DW_OBSTACLE_STATE_STOPPED = DW_OBSTACLE_STATE_NOTMOVING + 2, DW_OBSTACLE_STATE_FORWARD = DW_OBSTACLE_STATE_MOVING + 0, DW_OBSTACLE_STATE_REVERSE = DW_OBSTACLE_STATE_MOVING + 1, DW_OBSTACLE_STATE_TURNING_RIGHT = DW_OBSTACLE_STATE_MOVING + 2, DW_OBSTACLE_STATE_TURNING_LEFT = DW_OBSTACLE_STATE_MOVING + 3, DW_OBSTACLE_STATE_CHANGING_RIGHT = DW_OBSTACLE_STATE_MOVING + 4, DW_OBSTACLE_STATE_CHANGING_LEFT = DW_OBSTACLE_STATE_MOVING + 5, DW_OBSTACLE_STATE_UTURNING = DW_OBSTACLE_STATE_MOVING + 6 }

enum	dwObstacleStateFlags { DW_OBSTACLE_STATE_FLAG_INVALID = 0, DW_OBSTACLE_STATE_FLAG_TURN_RIGHT = (1 << 1), DW_OBSTACLE_STATE_FLAG_TURN_LEFT = (1 << 2), DW_OBSTACLE_STATE_FLAG_BRAKING = (1 << 3), DW_OBSTACLE_STATE_FLAG_REVERSE = (1 << 4), DW_OBSTACLE_STATE_FLAG_HAZARD_FLASHING = (1 << 5), DW_OBSTACLE_STATE_FLAG_RED_LIGHT_FLASHING = (1 << 6), DW_OBSTACLE_STATE_FLAG_BLUE_LIGHT_FLASHING = (1 << 7), DW_OBSTACLE_STATE_FLAG_IS_ATTENTIVE = (1 << 8), DW_OBSTACLE_STATE_FLAG_SIGNALING = (1 << 9) }

Functions
DW_API_PUBLIC dwStatus	dwObstacle_reset (dwObstacle *obstacle)
	Resets the fields of dwObstacle. More...

Data Structure Documentation

◆ dwObstacle

struct dwObstacle

Data Fields
dwVector3f	acceleration_mps2	Acceleration of ref point in m/s^2.
dwConfidence3f	accelerationConfidence
uint32_t	boundaryPointCount	The number of boundary points.
dwVector3f	boundaryPoints[DW_OBSTACLE_BOUNDARY_POINT_MAX_COUNT]	Shape information. Non-closed polyline encoded by 3D vertices.
float32_t	classConfidence	Classification confidence.
float32_t	clearance_m	Minimum clearance.
dwConfidence1f	clearanceConfidence	(used for overhangs, zero otherwise)
float32_t	confidence	Confidence that obstacle exists.
dwVector3f	direction	Forward direction.
dwConfidence3f	directionConfidence
float32_t	height_m	Maximum height of obstacle.
dwConfidence1f	heightConfidence
uint64_t	id	Object ID for tracking purposes.
dwObjectClass	objectClass	Class information. Object class
dwObstacleClass	obstacleClass	Obstacle class.
dwVector3f	position	A reference point on the obstacle.
dwConfidence3f	positionConfidence
uint32_t	prop	Properties.
dwVector3f	rotationAxis	Unit rotation axis at reference.
dwConfidence3f	rotationAxisConfidence
float32_t	rotationVel_rps	Rotational velocity in radians/sec.
dwConfidence1f	rotationVelConfidence
uint64_t	sensorIdMask	Bitmask indicating which sensors agreed with this obstacle detection.
dwObstacleState	state	Obstacle State (stopped/in motion)
dwObstacleStateFlags	stateFlags	Hints (turn signals, brake lights)
float32_t	subclassConfidence	Subclassification confidence.
dwTime_t	timestamp_us	Timestamp for this obstacle in host clock.
float32_t	traversalSpeed_mps	Maximum velocity that it is physically advised to move over this obstacle (used for speed bumps, gratings, low curbs or rough surfaces, zero otherwise.
dwConfidence1f	traversalSpeedConfidence
dwVector3f	velocity_mps	Velocity of reference point in m/s.
dwConfidence3f	velocityConfidence

◆ dwObstacleArray

struct dwObstacleArray

Data Fields
uint32_t	count
dwObstacle	obstacles[DW_OBSTACLE_ARRAY_MAX_COUNT]

◆ dwObstacleLink

struct dwObstacleLink

Data Fields
uint32_t	arrayIndex[DW_OBSTACLE_MAX_LINKS]	index to obstacle array shard
float32_t	confidence[DW_OBSTACLE_MAX_LINKS]
uint32_t	count	of valid linkages of obstacle
uint64_t	obstacleId[DW_OBSTACLE_MAX_LINKS]	corresponding obstacle’s id
uint32_t	obstacleIndex[DW_OBSTACLE_MAX_LINKS]	index within dwObstacleArray

◆ dwObstacleLinkArray

struct dwObstacleLinkArray

Data Fields
uint32_t	count
dwObstacleLink	links[DW_OBSTACLE_ARRAY_MAX_COUNT]

◆ dwObstacleRDM

struct dwObstacleRDM

Data Fields
float32_t	angleMax_r	angle where last sector ends.
float32_t	angleMin_r	angle where first sector starts.
uint32_t	sectorCount	Actual number of sectors.
dwObstacleSector	sectors[DW_OBSTACLE_RDF_MAX_SECTORS]	Sectors.
dwTime_t	timestamp_us	Timestamp.

◆ dwObstacleSector

struct dwObstacleSector

Data Fields
uint32_t	segmentCount	Actual number of segments.
dwObstacleSegment	segments[DW_OBSTACLE_SECTOR_MAX_SEGMENTS]	Segments.

◆ dwObstacleSegment

struct dwObstacleSegment

Data Fields
float32_t	classConfidence	Region class confidence.
float32_t	distance_m	Distance in meters from the origin to segment end.
int32_t	endIndex	dwObstacleArray index of dwObstacle that ends the segment. Negative if none.
uint64_t	endObstacleId	corresponding dwObstacle’s id
dwObstacleRegionClass	regionClass	Class of this region.
uint64_t	sourceIdMask	Bitmask indicating which sources agree.

◆ dwObstacleSilhouette

struct dwObstacleSilhouette

Data Fields
uint32_t	indices[DW_OBSTACLE_SILHOUETTE_MAX_POINTS]	Indices in the vertex pool.
uint32_t	nVertices	Number of vertices in this silhouette.
uint64_t	obstacleId	Obstacle ID.

◆ dwObstacleSilhouetteArray

struct dwObstacleSilhouetteArray

Data Fields
uint32_t	nObstacles
uint32_t	nVertices
dwObstacleSilhouette	silhouettes[DW_OBSTACLE_ARRAY_MAX_COUNT]
dwVector3f	vertices[DW_OBSTACLE_SILHOUETTE_MAX_VERTICES]

Macro Definition Documentation

◆ DW_OBSTACLE_ARRAY_MAX_COUNT

#define DW_OBSTACLE_ARRAY_MAX_COUNT 1000

Definition at line 289 of file Obstacle.h.

◆ DW_OBSTACLE_BOUNDARY_POINT_MAX_COUNT

#define DW_OBSTACLE_BOUNDARY_POINT_MAX_COUNT 30u

Definition at line 65 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_ANIMAL_BASE

#define DW_OBSTACLE_CLASS_ANIMAL_BASE DW_OBSTACLE_CLASS_IS_ANIMAL + DW_OBSTACLE_CLASS_IS_ANIMATE

Definition at line 141 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_BIKE_BASE

#define DW_OBSTACLE_CLASS_BIKE_BASE DW_OBSTACLE_CLASS_IS_BIKE + DW_OBSTACLE_CLASS_IS_ANIMATE

Definition at line 137 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_IS_ANIMAL

#define DW_OBSTACLE_CLASS_IS_ANIMAL (1 << 13)

animal mask

Definition at line 130 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_IS_ANIMATE

#define DW_OBSTACLE_CLASS_IS_ANIMATE (1 << 8)

Canonical classification bits for fast filtering These bits represent the super-class, while all bits represent sub-class.

obstacle that can move mask

Definition at line 125 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_IS_BIKE

#define DW_OBSTACLE_CLASS_IS_BIKE (1 << 11)

wheeled VRU mask

Definition at line 128 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_IS_OBJECT

#define DW_OBSTACLE_CLASS_IS_OBJECT (1 << 14)

inanimate object (e.g cone) mask

Definition at line 131 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_IS_PEDESTRIAN

#define DW_OBSTACLE_CLASS_IS_PEDESTRIAN (1 << 12)

pedestrian mask

Definition at line 129 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_IS_UNDEFINED

#define DW_OBSTACLE_CLASS_IS_UNDEFINED (1 << 15)

undefined object

Definition at line 132 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_IS_VEHICLE

#define DW_OBSTACLE_CLASS_IS_VEHICLE (1 << 10)

vehicle mask

Definition at line 127 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_IS_VIRTUAL

#define DW_OBSTACLE_CLASS_IS_VIRTUAL (1 << 9)

non physical obstacles mask

Definition at line 126 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_OBJECT_BASE

#define DW_OBSTACLE_CLASS_OBJECT_BASE DW_OBSTACLE_CLASS_IS_OBJECT

Definition at line 143 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_PEDESTRIAN_BASE

#define DW_OBSTACLE_CLASS_PEDESTRIAN_BASE DW_OBSTACLE_CLASS_IS_PEDESTRIAN + DW_OBSTACLE_CLASS_IS_ANIMATE

Definition at line 139 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_UNDEFINED_ANIMATE_BASE

#define DW_OBSTACLE_CLASS_UNDEFINED_ANIMATE_BASE DW_OBSTACLE_CLASS_IS_UNDEFINED + DW_OBSTACLE_CLASS_IS_ANIMATE

Definition at line 145 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_UNDEFINED_STATIC_BASE

#define DW_OBSTACLE_CLASS_UNDEFINED_STATIC_BASE DW_OBSTACLE_CLASS_IS_UNDEFINED

Definition at line 144 of file Obstacle.h.

◆ DW_OBSTACLE_CLASS_VEHICLE_BASE

#define DW_OBSTACLE_CLASS_VEHICLE_BASE DW_OBSTACLE_CLASS_IS_VEHICLE + DW_OBSTACLE_CLASS_IS_ANIMATE

Base offsets for object classes.

Definition at line 135 of file Obstacle.h.

◆ DW_OBSTACLE_MAX_LINKS

#define DW_OBSTACLE_MAX_LINKS 16

Definition at line 297 of file Obstacle.h.

◆ DW_OBSTACLE_MAX_SENSOR_COUNT

#define DW_OBSTACLE_MAX_SENSOR_COUNT 64

Definition at line 243 of file Obstacle.h.

◆ DW_OBSTACLE_RDF_MAX_SECTORS

#define DW_OBSTACLE_RDF_MAX_SECTORS 4000

Definition at line 374 of file Obstacle.h.

◆ DW_OBSTACLE_SECTOR_MAX_SEGMENTS

#define DW_OBSTACLE_SECTOR_MAX_SEGMENTS 10

Definition at line 373 of file Obstacle.h.

◆ DW_OBSTACLE_SILHOUETTE_MAX_POINTS

#define DW_OBSTACLE_SILHOUETTE_MAX_POINTS 128

Definition at line 320 of file Obstacle.h.

◆ DW_OBSTACLE_SILHOUETTE_MAX_VERTICES

#define DW_OBSTACLE_SILHOUETTE_MAX_VERTICES

Value:

DW_OBSTACLE_SILHOUETTE_MAX_POINTS* \

DW_OBSTACLE_ARRAY_MAX_COUNT

DW_OBSTACLE_SILHOUETTE_MAX_POINTS

#define DW_OBSTACLE_SILHOUETTE_MAX_POINTS

Definition: Obstacle.h:320

Definition at line 329 of file Obstacle.h.

◆ DW_OBSTACLE_STATE_MOVING

#define DW_OBSTACLE_STATE_MOVING (1 << 9)

Definition at line 79 of file Obstacle.h.

◆ DW_OBSTACLE_STATE_NOTMOVING

#define DW_OBSTACLE_STATE_NOTMOVING (1 << 8)

Bitmasks modifiers of obstacle state.

Definition at line 78 of file Obstacle.h.

Enumeration Type Documentation

◆ dwObjectClass

enum dwObjectClass

Object classes known to DriveWorks.

Enumerator
DW_OBJECT_CLASS_CAR	any light weight vehicle
DW_OBJECT_CLASS_TRAFFIC_SIGN	traffic and road signs
DW_OBJECT_CLASS_BICYCLE	two wheeled vehicles
DW_OBJECT_CLASS_PEDESTRIAN	pedestrians
DW_OBJECT_CLASS_TRAFFIC_LIGHT	traffic light
DW_OBJECT_CLASS_CURB	road curb as object
DW_OBJECT_CLASS_OTHER	other unspecified object
DW_OBJECT_CLASS_UNKNOWN	unknown object
DW_OBJECT_CLASS_NUM_CLASSES

Definition at line 110 of file Obstacle.h.

◆ dwObstacleClass

enum dwObstacleClass

Obstacle class enumeration.

Enumerator
DW_OBSTACLE_CLASS_INVALID	invalid class
DW_OBSTACLE_CLASS_VEHICLE_UNKNOWN	Vehicles.
DW_OBSTACLE_CLASS_VEHICLE_CAR
DW_OBSTACLE_CLASS_VEHICLE_TRUCK
DW_OBSTACLE_CLASS_VEHICLE_BUS
DW_OBSTACLE_CLASS_VEHICLE_EMERGENCY
DW_OBSTACLE_CLASS_VEHICLE_CONSTRUCTION
DW_OBSTACLE_CLASS_VEHICLE_POLICE
DW_OBSTACLE_CLASS_VEHICLE_SCHOOL_BUS
DW_OBSTACLE_CLASS_BIKE_UNKNOWN	Two wheeled vehicles.
DW_OBSTACLE_CLASS_BIKE
DW_OBSTACLE_CLASS_BIKE_MOTOR
DW_OBSTACLE_CLASS_PEDESTRIAN_UNKNOWN	Pedestrians.
DW_OBSTACLE_CLASS_PEDESTRIAN_ADULT
DW_OBSTACLE_CLASS_PEDESTRIAN_CHILD
DW_OBSTACLE_CLASS_PEDESTRIAN_CONSTRUCTION_WORKER
DW_OBSTACLE_CLASS_PEDESTRIAN_OFFICIAL
DW_OBSTACLE_CLASS_ANIMAL_UNKNOWN	Animals.
DW_OBSTACLE_CLASS_ANIMAL_SMALL	small animal (bird,squirrel,cat)
DW_OBSTACLE_CLASS_ANIMAL_MEDIUM	medium animal (like a large dog)
DW_OBSTACLE_CLASS_ANIMAL_LARGE	large animal (horse,cow,deer,moose)
DW_OBSTACLE_CLASS_OBJECT_UNKNOWN	Objects (in-animate). Official objects are obstacles on the road put there by a road authority, either temporarily or permanently
DW_OBSTACLE_CLASS_OBJECT_HAZARD
DW_OBSTACLE_CLASS_OBJECT_OFFICIAL
DW_OBSTACLE_CLASS_OBJECT_CONE
DW_OBSTACLE_CLASS_OBJECT_CURB	Physical barriers: below bumper obstacle
DW_OBSTACLE_CLASS_OBJECT_BARRIER	taller obstacle
DW_OBSTACLE_CLASS_OBJECT_PHYSICAL_LANE_LINE	low barrier splitting lanes
DW_OBSTACLE_CLASS_OBJECT_HARD_OVERHANG	Special obstacles: Overpass, parking garage ceiling
DW_OBSTACLE_CLASS_OBJECT_SOFT_OVERHANG	Tree branches, rope
DW_OBSTACLE_CLASS_OBJECT_SPEED_BUMP	Obstacle drivable at some speed
DW_OBSTACLE_CLASS_OBJECT_POT_HOLE	Cavity region
DW_OBSTACLE_CLASS_OBJECT_NEGATIVE	Other negative obstacle (drop off)
DW_OBSTACLE_CLASS_OBJECT_FORBIDDEN	non-physical treated as obstacle
DW_OBSTACLE_CLASS_UNDEFINED_STATIC	Other.
DW_OBSTACLE_CLASS_UNDEFINED_ANIMATE
DW_OBSTACLE_CLASS_FORBIDDEN_LANE_LINE	Virtual obstacles. Paint lanes, gore areas, boundaries
DW_OBSTACLE_CLASS_CROSSABLE_LANE_LINE
DW_OBSTACLE_CLASS_GORE_AREA
DW_OBSTACLE_CLASS_OCCLUSION

Definition at line 149 of file Obstacle.h.

◆ dwObstacleProperties

enum dwObstacleProperties

Enumerator
DW_OBSTACLE_PROPERTIES_IS_NONE	If this bit is set, obstacle is low confidence, recommended to filter, provided for fusion purposes.
DW_OBSTACLE_PROPERTIES_IS_LOW_CONFIDENCE
DW_OBSTACLE_PROPERTIES_IS_ON_SENSOR_BOUNDARY
DW_OBSTACLE_PROPERTIES_IS_PARTIALLY_OBSERVED
DW_OBSTACLE_PROPERTIES_IS_AT_RANGE_LIMIT

Definition at line 67 of file Obstacle.h.

◆ dwObstacleRegionClass

enum dwObstacleRegionClass

Enumerator
DW_OBSTACLE_REGION_INVALID	Invalid region class.
DW_OBSTACLE_REGION_DRIVABLE	Three basic actual underlying states. Surface that can be driven on
DW_OBSTACLE_REGION_STATIC	Region with static obstacles.
DW_OBSTACLE_REGION_ANIMATE	Covered by an actor that could move.
DW_OBSTACLE_REGION_NOT_DRIVABLE	States of incomplete knowledge about those underlying states Could be static/animate, don’t know which.
DW_OBSTACLE_REGION_NOT_ANIMATE	Could be drivable/static, don’t know which.
DW_OBSTACLE_REGION_NOT_STATIC	Could be drivable/animate, don’t know which.
DW_OBSTACLE_REGION_UNKNOWN	Region for which we have no knowledge.

Definition at line 341 of file Obstacle.h.

◆ dwObstacleState

enum dwObstacleState

Enumerator
DW_OBSTACLE_STATE_INVALID
DW_OBSTACLE_STATE_INACTIVE	Not parked, but stopped indefinite (sitting)
DW_OBSTACLE_STATE_PARKED	Parked
DW_OBSTACLE_STATE_STOPPED	Standing, Obstacle is temporarily stopped
DW_OBSTACLE_STATE_FORWARD	Obstacle is moving forward (driving, walking)
DW_OBSTACLE_STATE_REVERSE	Obstacle is moving backwards (driving, walking)
DW_OBSTACLE_STATE_TURNING_RIGHT	Turning right (from its perspective)
DW_OBSTACLE_STATE_TURNING_LEFT	Turning left (from its perspective)
DW_OBSTACLE_STATE_CHANGING_RIGHT	Changing lane or cutting right
DW_OBSTACLE_STATE_CHANGING_LEFT	Changing lane or cutting left
DW_OBSTACLE_STATE_UTURNING	U-turning

Definition at line 81 of file Obstacle.h.

◆ dwObstacleStateFlags

enum dwObstacleStateFlags

Enumerator
DW_OBSTACLE_STATE_FLAG_INVALID
DW_OBSTACLE_STATE_FLAG_TURN_RIGHT	Additional states flags for moving objects expressing intention of maneuver. Blinking/hand-signal right
DW_OBSTACLE_STATE_FLAG_TURN_LEFT	Blinking/hand-signal left.
DW_OBSTACLE_STATE_FLAG_BRAKING	Brake lights on.
DW_OBSTACLE_STATE_FLAG_REVERSE	Reverse lights on.
DW_OBSTACLE_STATE_FLAG_HAZARD_FLASHING	Emergency flashers on.
DW_OBSTACLE_STATE_FLAG_RED_LIGHT_FLASHING	Red light flashers on.
DW_OBSTACLE_STATE_FLAG_BLUE_LIGHT_FLASHING	Blue light flashers on.
DW_OBSTACLE_STATE_FLAG_IS_ATTENTIVE	Additional flags. Obstacle attentive to us
DW_OBSTACLE_STATE_FLAG_SIGNALING	Obstacle signaling to us.

Definition at line 225 of file Obstacle.h.

Function Documentation

◆ dwObstacle_reset()

DW_API_PUBLIC dwStatus dwObstacle_reset ( dwObstacle * obstacle )

Resets the fields of dwObstacle.

Parameters

[in] obstacle The obstacle to reset.

Returns: DW_SUCCESS If successful
DW_INVALID_ARGUMENT If obstacle is nullptr