Detailed Description

Fundamental types associated with Calibration.

Data Structures
struct	dwCalibrationStatus
	Defines the current status of an individual calibration. More...

Macros
#define	DW_CALIBRATION_MAXROUTINES 64
	This defines the number of anticipated concurrent calibrations. More...

Typedefs
typedef struct dwCalibrationEngineObject *	dwCalibrationEngineHandle_t

typedef struct dwCalibrationRoutineObject *	dwCalibrationRoutineHandle_t
	Handles to calibration module objects. More...

typedef void(*	dwCalibrationStatusChanged) (dwCalibrationRoutineHandle_t routine, dwCalibrationStatus status, void *userData)
	Defines a callback function that is called when calibration routine has changed its internal status. More...

Enumerations
enum	dwCalibrationFastAcceptanceOption { DW_CALIBRATION_FAST_ACCEPTANCE_DEFAULT = 0, DW_CALIBRATION_FAST_ACCEPTANCE_ENABLED = 1, DW_CALIBRATION_FAST_ACCEPTANCE_DISABLED = 2 }
	Fast-acceptance options to configure calibration routines with. More...

enum	dwCalibrationSignal { DW_CALIBRATION_SIGNAL_POSE_SENSOR_TO_RIG = 1 << 1, DW_CALIBRATION_SIGNAL_POSE_SENSOR_TO_SENSOR = 1 << 2, DW_CALIBRATION_SIGNAL_POSE_ROLL = 1 << 3, DW_CALIBRATION_SIGNAL_POSE_PITCH = 1 << 4, DW_CALIBRATION_SIGNAL_POSE_YAW = 1 << 5, DW_CALIBRATION_SIGNAL_POSE_X = 1 << 6, DW_CALIBRATION_SIGNAL_POSE_Y = 1 << 7, DW_CALIBRATION_SIGNAL_POSE_Z = 1 << 8, DW_CALIBRATION_SIGNAL_VEHICLE_SPEED_FACTOR = 1 << 9, DW_CALIBRATION_SIGNAL_VEHICLE_WHEEL_RADII = 1 << 10, DW_CALIBRATION_SIGNAL_VEHICLE_FRONT_STEERING_OFFSET = 1 << 11 }
	Defines signal types supported by a calibration routine. More...

enum	dwCalibrationState { DW_CALIBRATION_STATE_NOT_ACCEPTED = 0, DW_CALIBRATION_STATE_ACCEPTED = 1, DW_CALIBRATION_STATE_FAILED = 2 }
	Defines the current state of an individual calibration. More...

Functions
DW_API_PUBLIC dwStatus	dwCalibrationState_toString (const char **str, dwCalibrationState state)
	Converts a calibration state enum to a human-readable string representation. More...

Data Structure Documentation

◆ dwCalibrationStatus

struct dwCalibrationStatus

Data Fields
float32_t	percentageComplete	The current calibration percentage complete status. Valid percentages are in the range [0,1].
bool	started	Flag indicating whether a calibration routine is running.
dwCalibrationState	state	The current state of a calibration routine.

Macro Definition Documentation

◆ DW_CALIBRATION_MAXROUTINES

#define DW_CALIBRATION_MAXROUTINES 64

This defines the number of anticipated concurrent calibrations.

Definition at line 60 of file CalibrationTypes.h.

Typedef Documentation

◆ dwCalibrationEngineHandle_t

typedef struct dwCalibrationEngineObject* dwCalibrationEngineHandle_t

Definition at line 66 of file CalibrationTypes.h.

◆ dwCalibrationRoutineHandle_t

typedef struct dwCalibrationRoutineObject* dwCalibrationRoutineHandle_t

Handles to calibration module objects.

Definition at line 65 of file CalibrationTypes.h.

◆ dwCalibrationStatusChanged

typedef void(* dwCalibrationStatusChanged) (dwCalibrationRoutineHandle_t routine, dwCalibrationStatus status, void *userData)

Defines a callback function that is called when calibration routine has changed its internal status.

Definition at line 111 of file CalibrationTypes.h.

Enumeration Type Documentation

◆ dwCalibrationFastAcceptanceOption

enum dwCalibrationFastAcceptanceOption

Fast-acceptance options to configure calibration routines with.

If previously accepted estimates are available, fast-acceptance is a method to reduce re-calibration times in case the previous estimates can be validated with latest measurements. This option allows to configure the fast-acceptance behaviour of calibration routines supporting fast-acceptance

Enumerator
DW_CALIBRATION_FAST_ACCEPTANCE_DEFAULT	Let the calibration engine decide if fast-acceptance should be used.
DW_CALIBRATION_FAST_ACCEPTANCE_ENABLED	Unconditionally enable fast-acceptance (previously accepted estimates need to be available)
DW_CALIBRATION_FAST_ACCEPTANCE_DISABLED	Unconditionally disable fast-acceptance (previously accepted estimates will not be used)

Definition at line 142 of file CalibrationTypes.h.

◆ dwCalibrationSignal

enum dwCalibrationSignal

Defines signal types supported by a calibration routine.

Enumerator
DW_CALIBRATION_SIGNAL_POSE_SENSOR_TO_RIG	Pose-related signals and pose components.
DW_CALIBRATION_SIGNAL_POSE_SENSOR_TO_SENSOR	estimating a "sensor to rig" pose
DW_CALIBRATION_SIGNAL_POSE_ROLL	estimating "sensor to sensor" poses
DW_CALIBRATION_SIGNAL_POSE_PITCH	estimating the roll component of an orientation
DW_CALIBRATION_SIGNAL_POSE_YAW	estimating the pitch component of an orientation
DW_CALIBRATION_SIGNAL_POSE_X	estimating the yaw component of an orientation
DW_CALIBRATION_SIGNAL_POSE_Y	estimating the x component of a translation / direction
DW_CALIBRATION_SIGNAL_POSE_Z	estimating the y component of a translation / direction
DW_CALIBRATION_SIGNAL_VEHICLE_SPEED_FACTOR	estimating the z component of a translation / direction Vehicle-related signals
DW_CALIBRATION_SIGNAL_VEHICLE_WHEEL_RADII	estimating speed correction factor for CAN odometry
DW_CALIBRATION_SIGNAL_VEHICLE_FRONT_STEERING_OFFSET	estimating wheel radii

Definition at line 118 of file CalibrationTypes.h.

◆ dwCalibrationState

enum dwCalibrationState

Defines the current state of an individual calibration.

Enumerator
DW_CALIBRATION_STATE_NOT_ACCEPTED	The routine hasn't accepted an estimate.
DW_CALIBRATION_STATE_ACCEPTED	The routine has accepted an estimate and calibration continues.
DW_CALIBRATION_STATE_FAILED	The routine has failed calibration.

Definition at line 71 of file CalibrationTypes.h.

Function Documentation

◆ dwCalibrationState_toString()

DW_API_PUBLIC dwStatus dwCalibrationState_toString	(	const char **	str,
		dwCalibrationState	state
	)

Converts a calibration state enum to a human-readable string representation.

Parameters

str	the returned string
state	the state to translate

Returns: DW_INVALID_ARGUMENT - if the arguments in the parameters are invalid
DW_SUCCESS