Initialization

Note

SW Release Applicability: This tutorial is applicable to modules in NVIDIA DRIVE Software releases.

The Lane Planner is initialized with an existing map handle and an upper limit for the distance of the resulting lane plan:

dwStatus dwLanePlanner_initialize(
    dwLanePlannerHandle_t* lanePlanner,
    float32_t maxPlanLengthMeters,
    dwConstMapHandle_t map);

The maxPlanLenghtMeters argument is used to estimate the required buffer sizes to be allocated.

In addition, a Lane Plan must be created for the result of the lane planner:

dwStatus dwLanePlan_initialize(
    dwLanePlanHandle_t* lanePlan,
    dwConstLanePlannerHandle_t lanePlanner);