SelfCalibrationTypes.hpp

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#ifndef SELF_CALIBRATION_TYPES_HPP
#define SELF_CALIBRATION_TYPES_HPP
 
#include <dw/calibration/engine/common/CalibrationTypes.h>
#include <dw/calibration/engine/common/CalibrationTypesExtra.h>
#include <dw/calibration/engine/vehicle/VehicleParams.h>
#include <dw/core/health/HealthSignals.h>
#include <dw/rig/Vehicle.h>
#include <dw/rig/Rig.h>
#include <dw/core/base/Types.h>
#include <dw/core/container/BaseString.hpp>
 
namespace dw
{
namespace framework
{
 
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_IMU           = 1;
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_VEHICLEIO     = 1;
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_CAMERAS       = 9;
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_RADARS        = 9;
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_LIDARS        = 8;
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_ROUTINE_COUNT = SELF_CALIBRATION_NODE_MAX_CAMERAS * MAX_EXTRINSIC_PROFILE_COUNT +
                                                                   SELF_CALIBRATION_NODE_MAX_RADARS +
                                                                   SELF_CALIBRATION_NODE_MAX_LIDARS +
                                                                   SELF_CALIBRATION_NODE_MAX_IMU +
                                                                   SELF_CALIBRATION_NODE_MAX_VEHICLEIO;
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_WHEELS = 4;
 
// For every estimation, a property will be added to the rig file by the dwRigNode
// to indicating results of previous calibration:
//
// "properties": {
//     "self-calibration": "accepted"
// },
static constexpr char SELF_CALIBRATION_TAG[]                  = "self-calibration";
static constexpr char CALIBRATION_ACCEPTED_STATE_STRING[]     = "accepted";
static constexpr char CALIBRATION_NOT_ACCEPTED_STATE_STRING[] = "not-accepted";
static constexpr char CALIBRATION_FAILED_STATE_STRING[]       = "failed";
static constexpr char CALIBRATION_INVALID_STATE_STRING[]      = "invalid";
 
using CalibrationResultsString        = dw::core::FixedString<512>;
using CalibrationIntrinsicsString     = dw::core::FixedString<64>;
using CalibrationExtrinsicProfileName = dw::core::FixedString<DW_MAX_EXTRINSIC_PROFILE_NAME_SIZE>;
 
using dwCalibratedExtrinsics = struct CalibratedExtrinsics
{
    CalibrationExtrinsicProfileName extrinsicProfileName;
    dwCalibrationSensorPositionState positionState;
    bool positionStateChanged;
    dwTransformation3f currentSensor2Rig;
    dwCalibrationStatus status;
    bool calibrationStateChanged;
    dwCalibrationProperties properties;
    dwCalibrationManeuverArray maneuvers;
};
 
using dwCalibratedWheelRadii = struct CalibratedWheelRadii
{
    float32_t currentWheelRadius[DW_VEHICLE_NUM_WHEELS];
    dwCalibrationStatus status;
    dwCalibrationProperties properties;
    dwCalibrationManeuverArray maneuvers;
};
 
using dwCalibratedSteeringProperties = struct CalibratedSteeringProperties
{
    dwVehicleSteeringProperties steeringProperties;
    dwCalibrationStatus status;
    dwCalibrationProperties properties;
    dwCalibrationManeuverArray maneuvers;
};
 
using dwCalibratedIMUIntrinsics = struct CalibratedIMUIntrinsics
{
    dwVector3f gyroscopeBias;
    dwVector3f accelerometerBias;
    uint32_t sensorID;
    bool validGyroscopeBias;
    bool validAccelerometerBias;
};
 
} // namespace framework
} // namespace dw
 
#endif // SELF_CALIBRATION_TYPES_HPP