Detailed Description

Provides a safety layer purely based on obstacle avoidance.

Note: SW Release Applicability: These APIs are available in NVIDIA DRIVE Software releases.

The safety force field uses perceived static and moving obstacles from any sensor(s) and egomotion or vehicle io state of the ego car to predict whether a collision is likely when all involved actors are assumed to execute a safety procedure.

The following choices of safety procedures exist:

Freeze the current steering angle and come to a stop (default)
Continue straight in the current direction and come to a stop (forceStraight = true)
Line up the car to go parallel to a given road structure and come to a stop (useRoadStructure = true, forceStraight = false)
Option 1 and 3 can additionally select (expandClaimedSets = true) and will have the claimed sets get bigger over time to take into account uncertainty and reaction time.

The actors are simulated to execute their safety procedures and collisions are checked between their 3-d space-time claimed sets. When collisions are found, the collision point undergoes a differential analysis to determine which actions improve the safety potential (i.e. a numeric measure of how unsafe the situation is).

The safety force field uses perceived static and moving obstacles from any sensor(s) and egomotion or vehicle io state of the ego car to predict whether a collision is likely when all involved actors are assumed to execute a safety procedure.

The following choices of safety procedures exist:

Freeze the current steering angle and come to a stop (default)
Continue straight in the current direction and come to a stop (forceStraight = true)
Line up the car to go parallel to a given road structure and come to a stop (useRoadStructure = true, forceStraight = false)
Option 1 and 3 can additionally select (expandClaimedSets = true) and will have the claimed sets get bigger over time to take into account uncertainty and reaction time.

The actors are simulated to execute their safety procedures and collisions are checked between their 3-d space-time claimed sets. When collisions are found, the collision point undergoes a differential analysis to determine which actions improve the safety potential (i.e. a numeric measure of how unsafe the situation is).

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

Enumerations
enum	dwSafetyForceFieldStage { DW_SAFETY_FORCE_FIELD_STAGE_CPU_PRE_PROCESSING = 0, DW_SAFETY_FORCE_FIELD_STAGE_GPU_PROCESS = 1, DW_SAFETY_FORCE_FIELD_STAGE_CPU_SYNC_PROCESS = 2 }
	The process stages of the SafetyForceField. More...

Functions
DW_API_PUBLIC dwStatus	dwSafetyForceField_bindInputLaneGraph (const dwLaneGraph *lg, dwSafetyForceFieldHandle_t handle)
	Bind a lane graph which represents road geometries. More...

DW_API_PUBLIC dwStatus	dwSafetyForceField_bindInputObjects (dwObjectArray *objects, dwBindSlot slot, dwSafetyForceFieldHandle_t handle)
	Bind input perceived objects. More...

DW_API_PUBLIC dwStatus	dwSafetyForceField_bindInputVehicleIOState (const dwVehicleIOState *vioState, dwSafetyForceFieldHandle_t handle)
	Bind input vehicle IO state. More...

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_processStage (dwSafetyForceFieldStage stage, dwSafetyForceFieldHandle_t handle)
	Perform safety force field processing stages. 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...

Data Structure Documentation

◆ dwSafetyForceFieldMetrics

struct dwSafetyForceFieldMetrics

Data Fields
float32_t	actuationEMA	exponential moving average of actuation number to visualize the average false positives and focus more on the current changes
uint32_t	actuationSequenceLength	length of ongoing continuous sequence of frames with altered controls
uint64_t	collidingObjectIds[DW_SAFETY_FORCE_FIELD_METRICS_MAX_NUM_COLLIDING_OBJECTS]	object ids of objects in current frame that ego has predicted collision with
uint32_t	collidingObjectSensorIds[DW_SAFETY_FORCE_FIELD_METRICS_MAX_NUM_COLLIDING_OBJECTS]	sensor ids of objects in current frame that ego has predicted collision with
float32_t	collisionEMA	exponential moving average of collision number to visualize the average false positives and focus more on the current changes
uint32_t	collisionSequenceLength	length of ongoing continuous sequence of frames with predicted collisions
uint32_t	numCollidingObjects	number of objects in current frame that ego has predicted collision with
uint32_t	totalNumFrames	number of frames processed
uint32_t	totalNumFramesWithActuation	number of frames that altered the controls checked
uint32_t	totalNumFramesWithCollision	number of frames that had predicted collisions
uint32_t	totalNumSequencesWithActuation	number of continuous sequences of frames with altered controls
uint32_t	totalNumSequencesWithCollision	number of continuous sequences of frames with predicted collisions

◆ dwSafetyForceFieldParams

struct dwSafetyForceFieldParams

Data Fields
bool	expandClaimedSets	true to inflate claimed sets that represent reaction time, uncertainties, etc.
bool	filterActors	true to filter actors by keeping the ones that are close to ego-vehicle and have high velocity confidence
bool	forceStraight	true to use straight claimed sets, i.e. the safety procedure has no lateral movement
float32_t	margin	distance margin in [m]
float32_t	maxClearance	always filter objects with absolute clearance above this threshold [m]
uint32_t	maxNumActors	max number of input objects
float32_t	minConfidence	object velocity confidence threshold.
bool	restrictToMoving	true to ignore obstacles that are not moving (requires valid obstacleState)
bool	useGPU	use true if cuda optimization should be used
bool	useRoadStructure	true if structured safety procedures should be used
dwVehicle	vehicleProps	ego vehicle properties

◆ dwSafetyForceFieldPerActor

struct dwSafetyForceFieldPerActor

Data Fields
dwVector2f	collisionPoint	2D collision point in rig; only valid if collisionTime is positive
float32_t	collisionTime	time of collision of actor with ego, -1.0 if there is no collision
float32_t	headings[DW_SAFETY_FORCE_FIELD_NUM_SLICES]	heading in radians of the actor at discrete time steps (in rig coords)
float32_t	lateralSafetyForce	lateral force from this collision point; only valid if collisionTime is positive
float32_t	longitudinalSafetyForce	longitudinal force from this collision point; only valid if collisionTime is positive
uint64_t	objectId	object IDs of the actor
uint32_t	objectSensorId	sensor IDs of the actor
dwVector2f	positions[DW_SAFETY_FORCE_FIELD_NUM_SLICES]	positions of the actor at discrete time steps (in rig coords)

◆ dwSafetyForceFieldRequest

struct dwSafetyForceFieldRequest

Data Fields
bool	activationRequest	Activation request.
dwTime_t	timeStamp	Timestamp for request.

◆ dwSafetyForceFieldState

struct dwSafetyForceFieldState

Data Fields
dwSafetyForceFieldPerActor	actors[DW_SAFETY_FORCE_FIELD_MAX_NUM_ACTORS_LIMIT]
dwVector2f	claimedSets[DW_SAFETY_FORCE_FIELD_MAX_NUM_CLOSE_ACTORS][DW_SAFETY_FORCE_FIELD_NUM_VERTICES_EXPANDING_CLAIMED_SETS][DW_SAFETY_FORCE_FIELD_NUM_SLICES]	claimedSet[i][j][k] is actor i's image of vertex j at time k using expansion
uint32_t	claimedSetsActorIndices[DW_SAFETY_FORCE_FIELD_MAX_NUM_CLOSE_ACTORS]	index of the actor of this claimed sets
dwSafetyForceFieldConeType	controlImageConeType	Shape of the cone of safe controls.
float32_t	controlImageEnd	left boundary of the cone of safe controls in radians, depending on cone type
float32_t	controlImageStart	right boundary of the cone of safe controls in radians, depending on cone type
float32_t	desiredLateralAccel	SFF chosen lateral acceleration minus vdc attempted lateral acceleration.
float32_t	desiredLongitudinalAccel	SFF chosen acceleration minus vdc attempted acceleration.
float32_t	maxStopTime	Time horizon of the SFF simulation.
uint32_t	numActors	Number of actors reported.
uint32_t	numClaimedSets	Number of claimed sets reported.

Macro Definition Documentation

◆ DW_SAFETY_FORCE_FIELD_MAX_NUM_ACTORS_LIMIT

#define DW_SAFETY_FORCE_FIELD_MAX_NUM_ACTORS_LIMIT 150

Definition at line 81 of file SafetyForceField.h.

◆ DW_SAFETY_FORCE_FIELD_MAX_NUM_CLOSE_ACTORS

#define DW_SAFETY_FORCE_FIELD_MAX_NUM_CLOSE_ACTORS 10

for roadcast

Definition at line 85 of file SafetyForceField.h.

◆ DW_SAFETY_FORCE_FIELD_METRICS_MAX_NUM_COLLIDING_OBJECTS

#define DW_SAFETY_FORCE_FIELD_METRICS_MAX_NUM_COLLIDING_OBJECTS 200

Definition at line 83 of file SafetyForceField.h.

◆ DW_SAFETY_FORCE_FIELD_NUM_SLICES

#define DW_SAFETY_FORCE_FIELD_NUM_SLICES 16

Definition at line 82 of file SafetyForceField.h.

◆ DW_SAFETY_FORCE_FIELD_NUM_VERTICES_EXPANDING_CLAIMED_SETS

#define DW_SAFETY_FORCE_FIELD_NUM_VERTICES_EXPANDING_CLAIMED_SETS 6

Definition at line 84 of file SafetyForceField.h.

Typedef Documentation

◆ dwConstSafetyForceFieldHandle_t

typedef struct dwSafetyForceFieldObject const* dwConstSafetyForceFieldHandle_t

Definition at line 91 of file SafetyForceField.h.

◆ dwSafetyForceFieldHandle_t

typedef struct dwSafetyForceFieldObject* dwSafetyForceFieldHandle_t

Definition at line 90 of file SafetyForceField.h.

Enumeration Type Documentation

◆ dwSafetyForceFieldStage

enum dwSafetyForceFieldStage

The process stages of the SafetyForceField.

Enumerator
DW_SAFETY_FORCE_FIELD_STAGE_CPU_PRE_PROCESSING
DW_SAFETY_FORCE_FIELD_STAGE_GPU_PROCESS
DW_SAFETY_FORCE_FIELD_STAGE_CPU_SYNC_PROCESS

Definition at line 78 of file SafetyForceField_processpipeline.h.

Function Documentation

◆ dwSafetyForceField_bindInputLaneGraph()

DW_API_PUBLIC dwStatus dwSafetyForceField_bindInputLaneGraph	(	const dwLaneGraph *	lg,
		dwSafetyForceFieldHandle_t	handle
	)

Bind a lane graph which represents road geometries.

Parameters

[in]	lg	a lane graph
[in]	handle	The object to be updated

Returns: DW_SUCCESS Bind successfully.
DW_INVALID_ARGUMENT lg or handle is nullptr.

◆ dwSafetyForceField_bindInputObjects()

DW_API_PUBLIC dwStatus dwSafetyForceField_bindInputObjects	(	dwObjectArray *	objects,
		dwBindSlot	slot,
		dwSafetyForceFieldHandle_t	handle
	)

Bind input perceived objects.

Parameters

[in]	slot	to bind some particular input data to an internal slot
[in]	objects	Memory location that stores perceived objects, nullptr if the slot is to be unbound
[in]	handle	The object to be updated

Returns: DW_SUCCESS Set successfully.
DW_INVALID_ARGUMENT objects or handle is nullptr.

◆ dwSafetyForceField_bindInputVehicleIOState()

DW_API_PUBLIC dwStatus dwSafetyForceField_bindInputVehicleIOState	(	const dwVehicleIOState *	vioState,
		dwSafetyForceFieldHandle_t	handle
	)

Bind input vehicle IO state.

Parameters

[in]	vioState	the vehicle IO state, which is owned by the application
[in]	handle	The object to be updated

Returns: DW_SUCCESS Bind successfully.
DW_INVALID_ARGUMENT vioState or handle is nullptr.

◆ dwSafetyForceField_combineControlConstraints()

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.

Parameters

[out]	out	combined constraints
[in]	ins	address of the input constraints array
[in]	inCount	size of the input constraints array
[in]	type	type of control constraint combination
[in]	constraintBits	bits that define which constraints are used for combination. The k-th bit is 1 if the constraint `ins[k]` is used for combination, 0 otherwise.

Returns: DW_SUCCESS Process successfully.
DW_INVALID_ARGUMENT Either out or ins is nullptr.

Note: If the input combination type type is DW_SAFETY_FORCE_FIELD_COMBINATION_TYPE_UNION, union of the considered constraints will be taken and the result is stored in out->constraints[0]. Also out->constraintsCount is 1. In particular, it is possible to take the union of a proper subset of control constraints in the input ins, by specifying constraintBits correctly. For example, if inCount is 5, constraintBits is the binary number 10011, then the union of ins[0], ins[1] and ins[4] will be taken to generate the output out.; If the input combination type type is DW_SAFETY_FORCE_FIELD_COMBINATION_TYPE_VOTING, then constraintBits should have at least three 1's. If k0, k1 and k2 are the three smallest indices such that their bits in constraintBits are 1's, then out->constraints[i] stores ins[ki]for i = 0,1,2, and out->constraintsCountis 3. For example, ifinCountis 7,constraintBitsis the binary number 1100110, then onlyins[1],ins[2]andins[5]will be considered for generating the outputout`.

◆ dwSafetyForceField_getControlConstraints()

DW_API_PUBLIC dwStatus dwSafetyForceField_getControlConstraints	(	dwSafetyForceFieldControlConstraints *	constraints,
		dwSafetyForceFieldHandle_t	handle
	)

Getter of the SFF control constraints for actuation for safety.

Parameters

[out]	constraints	SFF control constraints for actuation
[in]	handle	sff instance handle to get from

Returns: DW_SUCCESS SFF control constraints were gotten.
DW_INVALID_ARGUMENT Either constraints or handle is nullptr.

◆ dwSafetyForceField_getControlImage()

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.

Parameters

[out]	img	Handle of the control image
[in]	beforeActuation	Ego's control that was queried (for rendering)
[in]	afterActuation	The control ego's control was corrected to (for rendering)
[in]	steeringLimit	The maximum allowed front wheel angle in radians (for rendering)
[in]	minAccel	Maximum allowed vehicle deceleration (for rendering)
[in]	maxAccel	Maximum allowed vehicle acceleration (for rendering)
[in]	steerRange	Maximum positive front wheel steering angle rendered in control image in degree (range of steering angle in control image is [-steerRange, steerRange])
[in]	accelRange	Maximum positive acceleration rendered in control image in m/s^2 (range of acceleration in control image is [-accelRange, accelRange])
[in]	handle	The object to be updated

Returns: DW_SUCCESS Process successfully.
DW_INVALID_ARGUMENT handle is nullptr.

◆ dwSafetyForceField_getCUDAStream()

DW_API_PUBLIC dwStatus dwSafetyForceField_getCUDAStream	(	cudaStream_t *	stream,
		dwSafetyForceFieldHandle_t	handle
	)

Get the cuda stream to be used.

Parameters

[out]	stream	Cuda stream to be retrieved
[in]	handle	sff instance handle to set

Returns: DW_SUCCESS stream was retrieved.
DW_INVALID_ARGUMENT handle or stream is nullptr.

◆ dwSafetyForceField_getMetrics()

DW_API_PUBLIC dwStatus dwSafetyForceField_getMetrics	(	dwSafetyForceFieldMetrics *	metrics,
		dwSafetyForceFieldHandle_t	handle
	)

Getter of statistics of safety force field collisions.

Parameters

[out]	metrics	a pointer to the current metrics of SFF
[in]	handle	sff instance handle to get from

Returns: DW_SUCCESS metrics were retrieved.
DW_INVALID_ARGUMENT handle or metrics is nullptr.

◆ dwSafetyForceField_getState()

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.

Parameters

[out]	state	a pointer to the current state of SFF
[in]	beforeActuation	Control of ego that was checked
[in]	afterActuation	Control it was corrected to
[in]	relative	true if claimed sets should be relative to ego
[in]	handle	sff instance handle to get from

Returns: DW_SUCCESS state was retrieved.
DW_INVALID_ARGUMENT handle or state is nullptr.

◆ dwSafetyForceField_initDefaultParams()

DW_API_PUBLIC dwStatus dwSafetyForceField_initDefaultParams ( dwSafetyForceFieldParams * params )

Initialize module parameters with default values.

Parameters

[out] params The module parameters

Returns: DW_SUCCESS When parameter initialization is successful.
DW_FAILURE When parameter initialization is unsuccessful.
DW_INVALID_ARGUMENT When params is nullptr.

◆ dwSafetyForceField_initialize()

DW_API_PUBLIC dwStatus dwSafetyForceField_initialize	(	dwSafetyForceFieldHandle_t *	handle,
		const dwSafetyForceFieldParams *	params,
		dwContextHandle_t	context
	)

Initialize a safety force field module.

Parameters

[out]	handle	A pointer to the safety force field object to be initialized.
[in]	params	Module parameters
[in]	context	Specifies a handle to the context under which it is created.

Returns: DW_SUCCESS module initialized successfully.
DW_INVALID_ARGUMENT handle, params or context is nullptr.

◆ dwSafetyForceField_initializeControlConstraints()

DW_API_PUBLIC dwStatus dwSafetyForceField_initializeControlConstraints ( dwSafetyForceFieldControlConstraints * c )

Helper function to initialize control constraints.

Parameters

[in,out] c constraints obj to be initialized

Returns: DW_SUCCESS Initialize successfully.
DW_INVALID_ARGUMENT c is nullptr.

◆ dwSafetyForceField_initializeMultiControlConstraints()

DW_API_PUBLIC dwStatus dwSafetyForceField_initializeMultiControlConstraints ( dwSafetyForceFieldMultiControlConstraints * c )

Helper function to initialize multi control constraints.

Parameters

[in,out] c constraints obj to be initialized

Returns: DW_SUCCESS Initialize successfully.
DW_INVALID_ARGUMENT c is nullptr.

◆ dwSafetyForceField_process()

DW_API_PUBLIC dwStatus dwSafetyForceField_process	(	dwObjectArray **	objectsList,
		uint32_t	numObjectArrays,
		const dwVehicleIOState *	vioState,
		const dwLaneGraph *	lg,
		dwSafetyForceFieldHandle_t	handle
	)

Main process.

Parameters

[in]	objectsList	List of memory locations that store perceived objects. The objects are assigned to the first numObjectArrays bind slots
[in]	numObjectArrays	The number of input object arrays
[in]	vioState	the vehicle IO state, which is owned by the application
[in]	lg	a lane graph
[in]	handle	The object to be updated

Returns: DW_SUCCESS Process successfully.
DW_INVALID_ARGUMENT handle is nullptr.

◆ dwSafetyForceField_processStage()

DW_API_PUBLIC dwStatus dwSafetyForceField_processStage	(	dwSafetyForceFieldStage	stage,
		dwSafetyForceFieldHandle_t	handle
	)

Perform safety force field processing stages.

Inputs must be bound before this call.

Parameters

[in]	stage	Processing stage to run.
[in]	handle	The object to be updated.

Returns: DW_SUCCESS Processed successfully.
DW_INVALID_ARGUMENT handle is nullptr.

◆ dwSafetyForceField_release()

DW_API_PUBLIC dwStatus dwSafetyForceField_release ( dwSafetyForceFieldHandle_t handle )

Release the safety force field module.

The handle points to NULL on success.

Parameters

[in] handle The object to be released

Returns: DW_SUCCESS module released successfully.
DW_INVALID_ARGUMENT handle is nullptr.

◆ dwSafetyForceField_reset()

DW_API_PUBLIC dwStatus dwSafetyForceField_reset ( dwSafetyForceFieldHandle_t handle )

Reset the safety force field module.

Parameters

[in] handle The object to be reset.

Returns: DW_SUCCESS module reset successfully.
DW_INVALID_ARGUMENT handle is nullptr.

◆ dwSafetyForceField_setCUDAStream()

DW_API_PUBLIC dwStatus dwSafetyForceField_setCUDAStream	(	cudaStream_t	stream,
		dwSafetyForceFieldHandle_t	handle
	)

Set the cuda stream to be used.

Parameters

[in]	stream	Cuda stream to be used
[in]	handle	sff instance handle to set

Returns: DW_SUCCESS stream was successfully set.
DW_INVALID_ARGUMENT handle is nullptr.

◆ dwSafetyForceField_setEgomotion()

DW_API_PUBLIC dwStatus dwSafetyForceField_setEgomotion	(	dwEgomotionConstHandle_t	egomotion,
		dwSafetyForceFieldHandle_t	handle
	)

Bind egomotion model handle.

Parameters

[in]	egomotion	model handle
[in]	handle	The object to be updated

Returns: DW_SUCCESS Bind successfully.
DW_INVALID_ARGUMENT egomotion or handle is nullptr.

Detailed Description

Data Structures

Macros

Typedefs

Enumerations

Functions

Data Structure Documentation

◆ dwSafetyForceFieldMetrics

◆ dwSafetyForceFieldParams

◆ dwSafetyForceFieldPerActor

◆ dwSafetyForceFieldRequest

◆ dwSafetyForceFieldState

Macro Definition Documentation

◆ DW_SAFETY_FORCE_FIELD_MAX_NUM_ACTORS_LIMIT

◆ DW_SAFETY_FORCE_FIELD_MAX_NUM_CLOSE_ACTORS

◆ DW_SAFETY_FORCE_FIELD_METRICS_MAX_NUM_COLLIDING_OBJECTS

◆ DW_SAFETY_FORCE_FIELD_NUM_SLICES

◆ DW_SAFETY_FORCE_FIELD_NUM_VERTICES_EXPANDING_CLAIMED_SETS

Typedef Documentation

◆ dwConstSafetyForceFieldHandle_t

◆ dwSafetyForceFieldHandle_t

Enumeration Type Documentation

◆ dwSafetyForceFieldStage

Function Documentation

◆ dwSafetyForceField_bindInputLaneGraph()

◆ dwSafetyForceField_bindInputObjects()

◆ dwSafetyForceField_bindInputVehicleIOState()

◆ dwSafetyForceField_combineControlConstraints()

◆ dwSafetyForceField_getControlConstraints()

◆ dwSafetyForceField_getControlImage()

◆ dwSafetyForceField_getCUDAStream()

◆ dwSafetyForceField_getMetrics()

◆ dwSafetyForceField_getState()

◆ dwSafetyForceField_initDefaultParams()

◆ dwSafetyForceField_initialize()

◆ dwSafetyForceField_initializeControlConstraints()

◆ dwSafetyForceField_initializeMultiControlConstraints()

◆ dwSafetyForceField_process()

◆ dwSafetyForceField_processStage()

◆ dwSafetyForceField_release()

◆ dwSafetyForceField_reset()

◆ dwSafetyForceField_setCUDAStream()

◆ dwSafetyForceField_setEgomotion()