NVIDIA DriveWorks API: Egomotion Methods
Description: This file defines the motion models estimating the pose of the vehicle.
Definition in file Egomotion.h.
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enum | dwEgomotionDataField {
DW_EGOMOTION_ROTATION = 1 << 0,
DW_EGOMOTION_LIN_VEL_X = 1 << 1,
DW_EGOMOTION_LIN_VEL_Y = 1 << 2,
DW_EGOMOTION_LIN_VEL_Z = 1 << 3,
DW_EGOMOTION_ANG_VEL_X = 1 << 4,
DW_EGOMOTION_ANG_VEL_Y = 1 << 5,
DW_EGOMOTION_ANG_VEL_Z = 1 << 6,
DW_EGOMOTION_LIN_ACC_X = 1 << 7,
DW_EGOMOTION_LIN_ACC_Y = 1 << 8,
DW_EGOMOTION_LIN_ACC_Z = 1 << 9
} |
| Defines flags that indicate validity of corresponding data in dwEgomotionResult and dwEgomotionUncertainty . More...
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enum | dwEgomotionLinearAccelerationFilterMode {
DW_EGOMOTION_ACC_FILTER_NO_FILTERING,
DW_EGOMOTION_ACC_FILTER_SIMPLE
} |
| Defines egomotion linear acceleration filter mode. More...
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enum | dwEgomotionSpeedMeasurementType {
DW_EGOMOTION_FRONT_SPEED = 0,
DW_EGOMOTION_REAR_WHEEL_SPEED = 1,
DW_EGOMOTION_REAR_SPEED = 2
} |
| Defines speed measurement types. More...
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enum | dwEgomotionSteeringMeasurementType {
DW_EGOMOTION_FRONT_STEERING = 0,
DW_EGOMOTION_STEERING_WHEEL_ANGLE = 1
} |
| Defines steering measurement types. More...
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enum | dwEgomotionSuspensionModel {
DW_EGOMOTION_SUSPENSION_RIGID_MODEL = 0,
DW_EGOMOTION_SUSPENSION_TORSIONAL_SPRING_MODEL = 1
} |
| Defines egomotion suspension model. More...
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enum | dwMotionModel {
DW_EGOMOTION_ODOMETRY = 1 << 0,
DW_EGOMOTION_IMU_ODOMETRY = 1 << 1 | DW_EGOMOTION_ODOMETRY
} |
| Defines the motion models. More...
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enum | dwMotionModelMeasurement {
DW_EGOMOTION_MEASUREMENT_VELOCITY = 0,
DW_EGOMOTION_MEASUREMENT_STEERINGANGLE = 1,
DW_EGOMOTION_MEASUREMENT_STEERINGWHEELANGLE = 2
} |
| Defines motion measurements. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_addIMUMeasurement (const dwIMUFrame *imu, dwEgomotionHandle_t obj) |
| Adds an IMU frame to the egomotion module. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_addOdometry (dwMotionModelMeasurement measuredType, float32_t measuredValue, dwTime_t timestamp, dwEgomotionHandle_t obj) |
| Notifies the egomotion module of a new odometry measurement. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_addVehicleState (const dwVehicleIOState *state, dwEgomotionHandle_t obj) |
| Notifies the egomotion module of a changed vehicle state. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_applyRelativeTransformation (dwTransformation3f *newVehicle2World, const dwTransformation3f *poseOld2New, const dwTransformation3f *oldVehicle2World) |
| Applies the estimated relative motion as returned by dwEgomotion_computeRelativeTransformation() to a given vehicle pose. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_computeRelativeTransformation (dwTransformation3f *poseAtoB, dwEgomotionRelativeUncertainty *uncertainty, dwTime_t timestamp_a, dwTime_t timestamp_b, dwEgomotionConstHandle_t obj) |
| Computes the relative transformation between two timestamps and the uncertainty of this transform. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_computeSteeringAngleFromIMU (float32_t *steeringAngle, float32_t *inverseSteeringR, const dwIMUFrame *imuMeasurement, dwEgomotionConstHandle_t obj) |
| Computes steering angle of the vehicle based on IMU measurement. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_estimate (dwEgomotionResult *pose, dwEgomotionUncertainty *uncertainty, dwTime_t timestamp_us, dwEgomotionConstHandle_t obj) |
| Estimates the state for a given timestamp. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_getEstimation (dwEgomotionResult *result, dwEgomotionConstHandle_t obj) |
| Gets the latest state estimate. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_getEstimationTimestamp (dwTime_t *timestamp, dwEgomotionConstHandle_t obj) |
| Gets the timestamp of the latest state estimate. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_getHistoryElement (dwEgomotionResult *pose, dwEgomotionUncertainty *uncertainty, size_t index, dwEgomotionConstHandle_t obj) |
| Returns an element from the motion history that is currently available. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_getHistorySize (size_t *num, dwEgomotionConstHandle_t obj) |
| Returns the number of elements currently stored in the history. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_getMotionModel (dwMotionModel *model, dwEgomotionConstHandle_t obj) |
| Returns the type of the motion model used. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_getUncertainty (dwEgomotionUncertainty *result, dwEgomotionConstHandle_t obj) |
| Gets the latest state estimate uncertainties. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_hasEstimation (bool *result, dwEgomotionConstHandle_t obj) |
| Check whether has state estimate. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_initialize (dwEgomotionHandle_t *obj, const dwEgomotionParameters *params, dwContextHandle_t ctx) |
| Initializes the egomotion module. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_initParamsFromRig (dwEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, const char *imuSensorName, const char *vehicleSensorName) |
| Initialize egomotion parameters from a provided RigConfiguration. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_initParamsFromRigByIndex (dwEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, uint32_t imuSensorIdx, uint32_t vehicleSensorIdx) |
| Same as dwEgomotion_initParamsFromRig however uses sensor indices in rigConfiguration instead of their names. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_release (dwEgomotionHandle_t obj) |
| Releases the egomotion module. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_reset (dwEgomotionHandle_t obj) |
| Resets the state estimate and all history of the egomotion module. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_steeringAngleToSteeringWheelAngle (float32_t *steeringWheelAngle, float32_t steeringAngle, dwEgomotionHandle_t obj) |
| Convert steering angle to steering wheel angle. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_steeringWheelAngleToSteeringAngle (float32_t *steeringAngle, float32_t steeringWheelAngle, dwEgomotionHandle_t obj) |
| Convert steering wheel angle to steering angle. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_update (dwTime_t timestamp_us, dwEgomotionHandle_t obj) |
| Runs the motion model estimation for a given timestamp. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_updateIMUExtrinsics (const dwTransformation3f *imuToRig, dwEgomotionHandle_t obj) |
| This method updates the IMU extrinsics to convert from the IMU coordinate system to the vehicle rig coordinate system. More...
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DW_API_PUBLIC dwStatus | dwEgomotion_updateVehicle (const dwVehicle *vehicle, dwEgomotionHandle_t obj) |
| This method updates the egomotion module with an updated vehicle. More...
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