Coordinate systems.
This enumeration defines the coordinate systems used across DriveWorks. Coordinate systems are described by an axis system and origin point.
| Enumerator |
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| DW_COORDINATE_SYSTEM_UNDEFINED | Default enum value indicating an undefined coordinate system.
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| DW_COORDINATE_SYSTEM_VEHICLE_BASE | DW_COORDINATE_SYSTEM_VEHICLE_BASE is the vehicle coordinate system attached to the primary body supported by suspension.
The axis system is fixed in the body such that, at rest on horizontal ground, the X axis is horizontal, parallel to the vehicle's longitudinal plane of symmetry and pointing forwards. The Y axis is horizontal, perpendicular to the X axis and pointing to the left, and the Z axis is vertical, perpendicular to both X and Y and pointing upwards. The origin is fixed in the body and defined as the mid-point of the (virtual) rear-axle projected onto ground. - Note
- Definition similar to ISO/CD 23150:2019E(3.7.17) "vehicle rear axle coordinate system", with the difference that the origin point is offset vertically (at road level at rest).
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See also ISO 8855:2011(2.10, 2.12) "vehicle axis system", "vehicle reference point".
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In a passenger car configuration, DW_COORDINATE_SYSTEM_VEHICLE_BASE refers to the car body, in which case it is often referred to as the "rig" coordinate system.
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In a truck configuration, DW_COORDINATE_SYSTEM_VEHICLE_BASE refers to the tractor chassis.
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| DW_COORDINATE_SYSTEM_VEHICLE_CABIN | DW_COORDINATE_SYSTEM_VEHICLE_CABIN is the coordinate system attached to the cabin body suspended above the primary vehicle body (DW_COORDINATE_SYSTEM_VEHICLE_BASE).
The axis system is fixed in the body such that, at rest on horizontal ground, the X axis is horizontal, parallel to the cabin's longitudinal plane of symmetry and pointing forwards. The Y axis is horizontal, perpendicular to the X axis and pointing to the left, and the Z axis is vertical, perpendicular to both X and Y and pointing upwards. The origin is fixed in the body and defined the same as DW_COORDINATE_SYSTEM_VEHICLE_BASE. - Note
- See ISO8855:2011(2.18, 2.19) "cab axis system", "cab coordinate system".
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DW_COORDINATE_SYSTEM_VEHICLE_CABIN only applies to vehicles with a suspended cabin.
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| DW_COORDINATE_SYSTEM_VEHICLE_TRAILER | DW_COORDINATE_SYSTEM_VEHICLE_TRAILER is the coordinate system attached to each of the vehicle units towed by a leading vehicle.
Axis systems and origins are defined by the same logic as applied for DW_COORDINATE_SYSTEM_VEHICLE_BASE. - Note
- See ISO8855:2011(3,1, 3.2) "vehicle unit", "trailer".
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| DW_COORDINATE_SYSTEM_ROADPLANE | DW_COORDINATE_SYSTEM_ROADPLANE is the coordinate system attached to the plane approximating the surface supporting the primary vehicle unit.
The road plane is defined by the front tire contact patches and the projection of the rear-axle midpoint onto the road surface. The axis system is fixed in the plane such that X and Y are aligned with the projection onto the plane of axes X and Y of the primary vehicle unit (DW_COORDINATE_SYSTEM_VEHICLE_BASE). The Z axis is perpendicular to the plane and pointing upwards. The road plane origin is defined by the projection of the rear-axle midpoint onto the road surface. - Note
- Definition compatible with ISO23150:2019E(3.7.8) "road plane".
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| DW_COORDINATE_SYSTEM_LOCAL | DW_COORDINATE_SYSTEM_LOCAL is a local coordinate system with origin at an arbitrary point in the world.
Origin and axis are typically defined by the vehicle position and heading at a particular point in time, e.g. at initialization.
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| DW_COORDINATE_SYSTEM_WORLD | DW_COORDINATE_SYSTEM_WORLD is used for map/earth coordinates and is defined by the World Geodetic System 1984 (WGS84) and East-North-Up (ENU) axis conventions.
The origin is defined at an arbitrary point on the Earth surface. X, Y and Z axes are defined tangent to the globe at origin point such that (X, Y, Z) corresponds to (East, North, Up).
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| DW_COORDINATE_SYSTEM_SENSOR | DW_COORDINATE_SYSTEM_SENSOR is the local coordinate system each sensor uses.
The conventions used in the SDK vary from sensor to sensor.
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| DW_COORDINATE_SYSTEM_CUSTOM | DW_COORDINATE_SYSTEM_CUSTOM represents any arbitrary coordinate system that the developer wants to use.
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| DW_COORDINATE_SYSTEM_COUNT | |