31#ifndef _DW_RIG_NODE_HPP_
32#define _DW_RIG_NODE_HPP_
45#include <dw/rig/Rig.h>
136 return describeConstructorArguments<dwRigNodeParams, dwContextHandle_t>(
141 &dwRigNodeParams::serialization),
197 dwContextHandle_t)));
#define DW_DESCRIBE_UNNAMED_ARRAY_PARAMETER_WITH_SEMANTIC(TYPE_NAME, SEMANTIC_TYPE_NAME, args...)
#define DW_DESCRIBE_UNNAMED_PARAMETER_WITH_SEMANTIC(TYPE_NAME, SEMANTIC_TYPE_NAME, args...)
#define DW_DESCRIBE_UNNAMED_PARAMETER(TYPE_NAME, args...)
#define DW_DESCRIBE_PARAMETER(TYPE_NAME, args...)
#define DW_DESCRIBE_PORT(TYPE_NAME, args...)
#define DW_DESCRIBE_PORT_ARRAY(TYPE_NAME, ARRAYSIZE, args...)
The interface to access parameter values identified by name and/or (semantic) type.
dwRigNode receives extrinsic calibrations from sensors in the system, and maintains that state to upd...
~dwRigNode() override=default
dwRigNode & operator=(dwRigNode &&)=default
dwRigNode & operator=(const dwRigNode &)=default
dwRigNode(dwRigNodeParams const ¶ms, dwContextHandle_t const ctx)
static std::unique_ptr< dwRigNode > create(ParameterProvider const &provider)
dwRigNode(const dwRigNode &other)=default
dwStatus preShutdown() override
static constexpr auto describeInputPorts()
static constexpr auto describeParameters()
static constexpr auto describeOutputPorts()
static constexpr auto describePasses()
dwRigNode(dwRigNode &&other)=default
dwRigNodeParams { bool serialization dwRigNodeParams
bool lidarSensorEnabled[framework::SELF_CALIBRATION_NODE_MAX_LIDARS]
CameraIntrinsics { uint64_t sensorId dwCameraIntrinsics
std::uint32_t radarSensorRigIndices[framework::SELF_CALIBRATION_NODE_MAX_RADARS]
char8_t const * rigOutputFileName
constexpr auto describePortCollection(Args &&... args)
CalibratedSteeringProperties { dwVehicleSteeringProperties steeringProperties dwCalibratedSteeringProperties
constexpr std::tuple< dw::core::StringView, dwProcessorType > describePass(dw::core::StringView const &&name, dwProcessorType processorType)
bool radarSensorEnabled[framework::SELF_CALIBRATION_NODE_MAX_RADARS]
std::uint32_t imuSensorRigIndices
CalibratedExtrinsics { CalibrationExtrinsicProfileName extrinsicProfileName dwCalibratedExtrinsics
bool cameraSensorEnabled[framework::SELF_CALIBRATION_NODE_MAX_CAMERAS]
std::uint32_t lidarSensorRigIndices[framework::SELF_CALIBRATION_NODE_MAX_LIDARS]
char8_t const * calibrationOutputFileName
CalibratedIMUIntrinsics { dwVector3f gyroscopeBias dwCalibratedIMUIntrinsics
std::uint32_t cameraSensorRigIndices[framework::SELF_CALIBRATION_NODE_MAX_CAMERAS]
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_LIDARS
constexpr auto describeConstructorArgument(const Args &&... args)
char8_t const * calibrationOverlayFileName
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_CAMERAS
constexpr auto describePassCollection(const Args &&... args)
CalibratedWheelRadii { float32_t currentWheelRadius[DW_VEHICLE_NUM_WHEELS] dwCalibratedWheelRadii
static constexpr uint8_t RIG_NODE_MAX_IMUS
static constexpr uint8_t SELF_CALIBRATION_NODE_MAX_RADARS