47 #ifndef DW_SENSORS_RADAR_RADAR_H_ 48 #define DW_SENSORS_RADAR_RADAR_H_ 120 #pragma pack(push, 1) 138 DW_DEPRECATED(
"Unused, and will be removed in next major release")
142 DW_DEPRECATED("Unused, and will be removed in next major release")
155 DW_DEPRECATED("Unused, and will be removed in next major release")
165 bool elevationValidity;
522 #endif // DW_SENSORS_RADAR_RADAR_H_ float32_t rcs
Compensated reflection amplitude (dB)
NVIDIA DriveWorks API: Core Types
float32_t Ax
X-component (m/s^2) of the acceleration.
uint32_t numScanTypes
Number of supported scan types.
float32_t dopplerAmbiguity
Doppler ambiguity free range.
float32_t acceleration
Longitudinal acceleration (m/s^2)
dwRadarScanType scanType
Type of scan.
DW_API_PUBLIC dwStatus dwSensorRadar_returnData(const dwRadarScan *scan, dwSensorHandle_t sensor)
Returns the data read to the internal pool.
float32_t yaw
Yaw angle of sensor (radians)
float32_t radialVelocity
Radial velocity (m/s)
float32_t x
X-position (m)
Defines the structure for reporting sensor mount position.
Defines the structure for a complete radar scan.
float float32_t
Specifies POD types.
uint8_t isDecodingOn
Indicates whether decoding is enabled.
dwRadarReturnType returnType
Type of radar return.
Processed tracker output.
dwRadarRange range
Scan range.
bool sensorAligned
Indicates if the sensor is aligned.
DW_API_PUBLIC dwStatus dwSensorRadar_setVehicleState(dwRadarVehicleState *data, dwSensorHandle_t sensor)
Sends vehicle dynamics information to the radar.
float32_t Vx
X-component (m/s) of the velocity.
float32_t Vx
X-component (m/s) of the velocity in the azimuth direction.
bool sensorOK
Indicaes if the is OK.
float32_t y
Y-position (m)
float32_t z
Z-position (m)
DW_API_PUBLIC dwStatus dwSensorRadar_readData(const dwRadarScan **data, const dwRadarScanType type, const dwTime_t timeoutUs, dwSensorHandle_t sensor)
Reads a single packet, which might be an entire scan or a fraction of a scan, which is sensor depende...
dwRadarDynamicState dynamicState
Dynamic state of the object.
float32_t roll
Roll angle of sensor (radians)
float32_t wheelbase
Size of wheel-base (m)
float32_t x
X-position (m) of sensor mounting in AUTOSAR-coordinates from CoG.
float32_t Vy
Y-component (m/s) of the velocity in the azimuth direction.
float32_t radius
Radial distance (m)
float32_t Ay
Y-component (m/s^2) of the aceleration.
Stopped (was moving, now stationary)
uint32_t id
Radar-provided track id.
float32_t damping
Damping of radome (db)
DW_API_PUBLIC dwStatus dwSensorRadar_getProperties(dwRadarProperties *radarProperties, dwSensorHandle_t sensor)
Gets information about the Radar sensor.
struct dwSensorObject * dwSensorHandle_t
Handle representing a sensor.
float32_t Vy
Y-component (m/s) of the velocity.
uint32_t scanIndex
Sensor-provided scan index.
dwTime_t sensorTimestamp
Sensor timestamp for this scan (us)
dwStatus
Status definition.
NVIDIA DriveWorks API: Sensors
uint32_t numReturns
Number of radar returns in this scan.
void * data
Pointer to the array of returns (to be casted based on return type)
dwRadarDynamicState
Defines the dynamic state of the radar return.
Defines the type of scan (combination of return type & range)
Defines the return structure for sensor status messages.
int64_t dwTime_t
Specifies a timestamp unit, in microseconds.
DW_API_PUBLIC dwStatus dwSensorRadar_toggleScanType(bool enable, dwRadarScanType scanType, dwSensorHandle_t sensor)
Enables/Disables a scan type for the radar sensor.
float32_t azimuthRate
Rate of change of azimuth angle (radians/s)
#define DW_DEPRECATED(msg)
DW_API_PUBLIC dwStatus dwSensorRadar_setMountPosition(dwRadarMountPosition *data, dwSensorHandle_t sensor)
Sends the radar mount position information to the radar.
bool sensorDisturbed
Indicates if the sensor is disturbed due to interference.
DW_API_PUBLIC dwStatus dwSensorRadar_setDataDecoding(bool enable, dwSensorHandle_t sensor)
Enables/disables the decoding of the Radar packets, which incurs in additional CPU load...
Defines the properties of the radar.
uint32_t packetsPerScan
of packets per scan (Note: will be deprecated soon)
bool sensorBlock
Indicates if the sensor is blocked.
DW_API_PUBLIC dwStatus dwSensorRadar_readScan(const dwRadarScan **data, const dwTime_t timeoutUs, dwSensorHandle_t sensor)
Reads a one scan chunk.
float32_t azimuth
Azimuth angle (radians)
dwRadarReturnType
Defines the type of radar return.
dwTransformation3f radarPosition
Radar position.
float32_t confidence
Confidence of object existence (range: 0-1);.
uint32_t inputPacketsPerSecond
Number of input odometry packets per second.
dwRadarRange
Defines the range of radar return.
DW_API_PUBLIC dwStatus dwSensorRadar_returnScan(const dwRadarScan *scan, dwSensorHandle_t sensor)
Returns the data covering an entire scan read to the internal pool.
uint32_t age
Age of tracked object (in scans)
float32_t y
Y-position (m)
float32_t x
X-position (m)
float32_t y
Y-position (m) of sensor mounting in AUTOSAR-coordinates from CoG.
float32_t pitch
Pitch angle of sensor (radians)
Defines the structure for reporting current vehicle dynamics state.
Sensor status information.
float32_t yawRate
Yaw rate (radians/s)
float32_t radialAcceleration
Radial acceleration (m/s^2)
The structs below are serialized in binary and the layout is assummed to be packed.
uint32_t scansPerSecond
Number of scans (of a particular type) per second.
bool isReversed
Indicates if the sensor is reversed from its default orientation.
dwTime_t hostTimestamp
Host timestamp at reception of first packet belonging to this scan (us)
float32_t z
Z-position (m) of sensor mounting in AUTOSAR-coordinates from CoG.
bool elevationValid
Indicates validity of z position.
uint32_t sensorId
Id of the sensor (vendor-specific)
float32_t velocity
Longitudinal velocity (m/s)
DW_API_PUBLIC dwStatus dwSensorRadar_processRawData(const dwRadarScan **data, const uint8_t *rawData, size_t size, dwSensorHandle_t sensor)
Decodes RAW data previously read onto the application side structure.
float32_t lateralAcceleration
Lateral acceleration (m/s^2)