Detailed Description

This node computes the vehicle state and relative motion over time using signals from IMU and wheelspeed sensors.

The user has the option to use a odometry-only model as well, where IMU is not used anymore.

Input modalities

IMU
Wheelspeeds
Steering

Output signals

Egomotion state

Definition at line 120 of file dwRelativeEgomotionIMUNode.hpp.

Inheritance diagram for dw::framework::dwRelativeEgomotionIMUNode:

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Collaboration diagram for dw::framework::dwRelativeEgomotionIMUNode:

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Public Member Functions
	dwRelativeEgomotionIMUNode (const dwRelativeEgomotionIMUNodeInitParams &params, const dwContextHandle_t ctx)

dwStatus	executeAsyncReset () override

dwStatus	preShutdown () override

dwStatus	setAsyncReset () override

Public Member Functions inherited from dw::framework::ExceptionSafeProcessNode
	ExceptionSafeProcessNode (std::unique_ptr< Node > impl)

dwStatus	getErrorSignal (dwGraphErrorSignal *&errorSignal) override

dwStatus	getHealthSignal (dwGraphHealthSignal *&healthSignal, bool updateFromModule=false) override

dwStatus	getName (const char **name) override

size_t	getPassCount () const noexcept override

dwStatus	getPasses (VectorFixed< Pass * > &passList) override

dwStatus	getPasses (VectorFixed< Pass * > &passList, dwProcessorType processorType, dwProcessType processType) override

dwStatus	reportCurrentErrorSignal (dwGraphErrorSignal &signal) override

dwStatus	reportCurrentHealthSignal (dwGraphHealthSignal &signal) override

dwStatus	reset () override

void	resetPorts () override

dwStatus	run () override

dwStatus	runPass (size_t passIndex) override

dwStatus	runPassByID (uint8_t passID) override

dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID) override

dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID, dwSerializationType dataType) override

dwStatus	setIterationCount (uint32_t iterationCount) override final

dwStatus	setName (const char *name) override

dwStatus	setOutputChannel (ChannelObject *channel, uint8_t portID) override

dwStatus	setState (const char *state) override

dwStatus	validate () override

	~ExceptionSafeProcessNode () override=default

Public Member Functions inherited from dw::framework::Node
virtual dwStatus	getErrorSignal (dwGraphErrorSignal *&errorSignal)=0
	Get the pointer to the error signal for this node. More...

virtual dwStatus	getHealthSignal (dwGraphHealthSignal *&healthSignals, bool updateFromModule=false)=0
	Get the pointer to the health signal for this node. More...

virtual dwStatus	getName (const char **name)=0
	Get the name of the node. More...

virtual size_t	getPassCount () const noexcept=0
	Get number of passes in the node. More...

virtual dwStatus	getPasses (VectorFixed< Pass * > &passList)=0
	Get all the passes in the node. More...

virtual dwStatus	getPasses (VectorFixed< Pass * > &passList, dwProcessorType processorType, dwProcessType processType)=0
	Get node passes filtered by processor type and process type. More...

virtual dwStatus	reportCurrentErrorSignal (dwGraphErrorSignal &signal)=0
	A function that allows user override to update error signal It is automatically called by dwFramework when getErrorSignal is called and when pass returns non-success return code. More...

virtual dwStatus	reportCurrentHealthSignal (dwGraphHealthSignal &signal)=0
	A function that allows user override to update health signal It is automatically called by dwFramework during teardown and when pass returns non-success return code. More...

virtual dwStatus	reset ()=0
	Resets the state of the node. More...

virtual void	resetPorts ()=0
	Resets all the ports in the node. More...

virtual dwStatus	run ()=0
	Runs all the passes in the node. More...

virtual dwStatus	runPass (size_t passIndex)=0
	Run one pass by index as defined by the pass descriptors. More...

virtual dwStatus	runPassByID (uint8_t passID)=0
	Run one pass by ID as defined by the PassList enum class. More...

virtual dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID)=0
	Sets an input channel for this node with an accompanying port. More...

virtual dwStatus	setInputChannel (ChannelObject *channel, uint8_t portID, dwSerializationType dataType)=0
	Sets an input channel for this node with an accompanying port. More...

virtual dwStatus	setIterationCount (uint32_t iterationCount)=0
	Sets the node's iteration count. More...

virtual dwStatus	setName (const char *name)=0
	Set the name of the node. More...

virtual dwStatus	setOutputChannel (ChannelObject *channel, uint8_t portID)=0
	Sets an output channel for this node with an accompanying port. More...

virtual dwStatus	setState (const char *state)=0
	Set the current state in node. Node implementation of this API need to be thread-safe. More...

virtual dwStatus	validate ()=0
	Checks that all mandatory ports are bound. The implementation should validate that all the ports are bound to the appropriate channels (any required ports, that is). For example, a camera node may have processed output and raw output ports, but only one is required to be bound. More...

virtual	~Node ()=default

Public Member Functions inherited from dw::framework::IAsyncResetable
virtual dwStatus	executeAsyncReset ()=0
	Executes a reset if the async reset flag is set. More...

virtual dwStatus	setAsyncReset ()=0
	Set the async reset flag. More...

virtual	~IAsyncResetable ()=default

Public Member Functions inherited from dw::framework::IContainsPreShutdownAction
virtual dwStatus	preShutdown ()=0
	actions to be taken before node shutdown More...

virtual	~IContainsPreShutdownAction ()=default

Static Public Member Functions
static std::unique_ptr< dwRelativeEgomotionIMUNode >	create (ParameterProvider &provider)

static constexpr auto	describeInputPorts ()

static constexpr auto	describeOutputPorts ()

static constexpr auto	describeParameters ()

static constexpr auto	describePasses ()

Additional Inherited Members
Public Types inherited from dw::framework::Node
using	Name_t = FixedString< MAX_NAME_LEN >

Static Public Attributes inherited from dw::framework::Node
static constexpr size_t	MAX_NAME_LEN = 128

static constexpr uint32_t	MAX_PASS_COUNT = 256

static constexpr uint32_t	MAX_PORT_COUNT = 256

static constexpr uint8_t	PASS_SETUP = std::numeric_limits<uint8_t>::max() - 1

static constexpr uint8_t	PASS_TEARDOWN = std::numeric_limits<uint8_t>::max()

Protected Attributes inherited from dw::framework::ExceptionSafeProcessNode
std::unique_ptr< Node >	m_impl

Constructor & Destructor Documentation

◆ dwRelativeEgomotionIMUNode()

dw::framework::dwRelativeEgomotionIMUNode::dwRelativeEgomotionIMUNode	(	const dwRelativeEgomotionIMUNodeInitParams &	params,
		const dwContextHandle_t	ctx
	)