EgomotionTypes.h

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#ifndef DW_EGOMOTION_BASE_EGOMOTIONTYPES_H_
#define DW_EGOMOTION_BASE_EGOMOTIONTYPES_H_
// Generated by dwProto from egomotion_types.proto DO NOT EDIT BY HAND!
// See //3rdparty/shared/dwproto/README.md for more information
 
#include <dw/core/base/Exports.h>
#include <dw/core/base/Types.h>
 
#include <dw/rig/Vehicle.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef enum dwMotionModel {
    DW_EGOMOTION_ODOMETRY = 1 << 0,
 
    DW_EGOMOTION_IMU_ODOMETRY = (1 << 2) - 1,
} dwMotionModel;
 
typedef enum dwMotionModelMeasurement {
    DW_EGOMOTION_MEASUREMENT_VELOCITY           = 0, 
    DW_EGOMOTION_MEASUREMENT_STEERINGANGLE      = 1, 
    DW_EGOMOTION_MEASUREMENT_STEERINGWHEELANGLE = 2, 
} dwMotionModelMeasurement;
 
typedef enum dwEgomotionSpeedMeasurementType {
    DW_EGOMOTION_FRONT_SPEED = 0,
 
    DW_EGOMOTION_REAR_WHEEL_SPEED = 1,
 
    DW_EGOMOTION_REAR_SPEED = 2,
} dwEgomotionSpeedMeasurementType;
 
typedef enum dwEgomotionSteeringMeasurementType {
    DW_EGOMOTION_FRONT_STEERING       = 0, 
    DW_EGOMOTION_STEERING_WHEEL_ANGLE = 1, 
} dwEgomotionSteeringMeasurementType;
 
typedef enum dwEgomotionLinearAccelerationFilterMode {
    DW_EGOMOTION_ACC_FILTER_NO_FILTERING = 0, 
    DW_EGOMOTION_ACC_FILTER_SIMPLE       = 1, 
} dwEgomotionLinearAccelerationFilterMode;
 
typedef enum dwEgomotionSuspensionModel {
    DW_EGOMOTION_SUSPENSION_RIGID_MODEL            = 0, 
    DW_EGOMOTION_SUSPENSION_TORSIONAL_SPRING_MODEL = 1, 
} dwEgomotionSuspensionModel;
 
typedef enum dwEgomotionDataField {
    DW_EGOMOTION_ROTATION  = 1 << 0,  
    DW_EGOMOTION_LIN_VEL_X = 1 << 1,  
    DW_EGOMOTION_LIN_VEL_Y = 1 << 2,  
    DW_EGOMOTION_LIN_VEL_Z = 1 << 3,  
    DW_EGOMOTION_ANG_VEL_X = 1 << 4,  
    DW_EGOMOTION_ANG_VEL_Y = 1 << 5,  
    DW_EGOMOTION_ANG_VEL_Z = 1 << 6,  
    DW_EGOMOTION_LIN_ACC_X = 1 << 7,  
    DW_EGOMOTION_LIN_ACC_Y = 1 << 8,  
    DW_EGOMOTION_LIN_ACC_Z = 1 << 9,  
    DW_EGOMOTION_ANG_ACC_X = 1 << 10, 
    DW_EGOMOTION_ANG_ACC_Y = 1 << 11, 
    DW_EGOMOTION_ANG_ACC_Z = 1 << 12, 
} dwEgomotionDataField;
 
typedef struct dwEgomotionLinearAccelerationFilterParams
{
    dwEgomotionLinearAccelerationFilterMode mode;
 
    float32_t accelerationFilterTimeConst;       
    float32_t processNoiseStdevSpeed;            
    float32_t processNoiseStdevAcceleration;     
    float32_t measurementNoiseStdevSpeed;        
    float32_t measurementNoiseStdevAcceleration; 
} dwEgomotionLinearAccelerationFilterParams;
 
typedef struct dwEgomotionSuspensionParameters
{
    dwEgomotionSuspensionModel model;
 
    float32_t torsionalSpringPitchNaturalFrequency;
 
    float32_t torsionalSpringPitchDampingRatio;
} dwEgomotionSuspensionParameters;
 
typedef struct dwEgomotionSensorCharacteristics
{
    float32_t gyroNoiseDensityDeg;
 
    float32_t gyroDriftRate;
 
    float32_t gyroBiasRange;
 
    float32_t accNoiseDensityMicroG;
 
    float32_t imuSamplingRateHz;
 
    float32_t odometrySamplingRateHz;
 
    dwTime_t velocityLatency;
 
    float32_t velocityFactor;
} dwEgomotionSensorCharacteristics;
 
typedef struct dwEgomotionParameters
{
    dwVehicle vehicle;
 
    DW_DEPRECATED("Deriving lateral slip coefficient from vehicle parameters, unless this parameter is non-zero.")
    float32_t lateralSlipCoefficient;
 
    dwTransformation3f imu2rig;
 
    dwMotionModel motionModel;
 
    bool estimateInitialOrientation;
 
    bool automaticUpdate;
 
    uint32_t historySize;
 
    float32_t gyroscopeBias[3];
 
    dwEgomotionSensorCharacteristics sensorParameters;
 
    dwEgomotionSpeedMeasurementType speedMeasurementType;
 
    dwEgomotionSteeringMeasurementType steeringMeasurementType;
 
    dwEgomotionLinearAccelerationFilterParams linearAccelerationFilterParameters;
 
    dwEgomotionSuspensionParameters suspension;
} dwEgomotionParameters;
 
typedef struct dwEgomotionResult
{
    dwQuaternionf rotation;           
    dwTime_t timestamp;               
    float32_t linearVelocity[3];      
    float32_t angularVelocity[3];     
    float32_t linearAcceleration[3];  
    float32_t angularAcceleration[3]; 
    int32_t validFlags;               
} dwEgomotionResult;
 
typedef struct dwEgomotionUncertainty
{
    dwMatrix3f rotation;             
    float32_t linearVelocity[3];     
    float32_t angularVelocity[3];    
    float32_t linearAcceleration[3]; 
    float32_t angularAcceleration[3];
    dwTime_t timestamp; 
    int64_t validFlags; 
} dwEgomotionUncertainty;
 
typedef struct dwEgomotionRelativeUncertainty
{
    dwMatrix3f rotation;    
    dwMatrix3f translation; 
    dwTime_t timeInterval;  
    bool valid;             
} dwEgomotionRelativeUncertainty;
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_EGOMOTION_BASE_EGOMOTIONTYPES_H_