rig/docs/usecase1.md

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# Copyright (c) 2019-2020 NVIDIA CORPORATION.  All rights reserved.

@page rigconfiguration_usecase1 Accessing Vehicle Properties and Sensors From a Rig File

@note SW Release Applicability: This tutorial is applicable to modules in both **NVIDIA DriveWorks** and **NVIDIA DRIVE Software** releases.

The following code snippets shows the general structure of a program that uses a rig configuration and enumerate / query sensor properties.<br>
The rig module can be initialized from a rig file:

```{.cpp}
dwContextHandle_t contextHandle = DW_NULL_HANDLE;
dwRigHandle_t rigHandle = DW_NULL_HANDLE;
dwContextParameters contextParams{};

dwInitialize(&contextHandle, DW_VERSION, &contextParams);

dwRig_initializeFromFile(&rigHandle, contextHandle, rigconfigFilename);
```

Afterwards we can easily access the vehicle properties:

```{.cpp}
dwGenericVehicle vehicle;
dwRig_getGenericVehicle(&vehicle, rigHandle);
```

As well as all sensors contained in the file:

```{.cpp}
dwRig_getSensorCount(&sensorCount, ...);
for(uint32_t sensorID; sensorID < sensorCount; ++sensorID)
{
    dwRig_getSensorProtocol(&sensorProtocol, sensorID, rigHandle);
    dwRig_getSensorParameter(&sensorParameter, sensorID, rigHandle);
    dwRig_getSensorName(&sensorName, sensorID, rigHandle);
    dwRig_getNominalSensorToRigTransformation(&transformation, sensorID, rigHandle);
    dwRig_getSensorToRigTransformation(&transformation, sensorID, rigHandle);
}
```

Finally we can release all handles:

```{.cpp}
dwRig_release(rigHandle);
dwRelease(contextHandle);
```

For the full implementation refer to @ref dwx_rig_sample