NVIDIA DriveWorks API: Egomotion Methods
Description: This file defines the motion models estimating the pose of the vehicle.
Definition in file Egomotion.h.
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| DW_API_PUBLIC dwStatus | dwEgomotion_addIMUMeasurement (const dwIMUFrame *imu, dwEgomotionHandle_t obj) |
| | Adds an IMU frame to the egomotion module. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_addOdometry (dwMotionModelMeasurement measuredType, float32_t measuredValue, dwTime_t timestamp, dwEgomotionHandle_t obj) |
| | Notifies the egomotion module of a new odometry measurement. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_addVehicleIOState (dwVehicleIOSafetyState const *safeState, dwVehicleIONonSafetyState const *nonSafeState, dwVehicleIOActuationFeedback const *actuationFeedback, dwEgomotionHandle_t obj) |
| | Notifies the egomotion module of a changed vehicle state. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_addVehicleState (const dwVehicleIOState *state, dwEgomotionHandle_t obj) |
| | Notifies the egomotion module of a changed vehicle state. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_applyRelativeTransformation (dwTransformation3f *vehicleToWorldAtB, const dwTransformation3f *vehicleAToB, const dwTransformation3f *vehicleToWorldAtA) |
| | Applies the estimated relative motion as returned by dwEgomotion_computeRelativeTransformation to a given vehicle pose. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_computeBodyTransformation (dwTransformation3f *const transformationAToB, dwEgomotionRelativeUncertainty *const uncertainty, dwTime_t const timestamp, dwCoordinateSystem const coordinateSystemA, dwCoordinateSystem const coordinateSystemB, dwEgomotionConstHandle_t const obj) |
| | Compute the transformation between two coordinate systems at a specific timestamp and the uncertainty of this transform. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_computeRelativeTransformation (dwTransformation3f *poseAtoB, dwEgomotionRelativeUncertainty *uncertainty, dwTime_t timestamp_a, dwTime_t timestamp_b, dwEgomotionConstHandle_t obj) |
| | Computes the relative transformation between two timestamps and the uncertainty of this transform. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_computeSteeringAngleFromIMU (float32_t *steeringAngle, float32_t *inverseSteeringR, const dwIMUFrame *imuMeasurement, dwEgomotionConstHandle_t obj) |
| | Computes steering angle of the vehicle based on IMU measurement. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_estimate (dwEgomotionResult *pose, dwEgomotionUncertainty *uncertainty, dwTime_t timestamp_us, dwEgomotionConstHandle_t obj) |
| | Estimates the state for a given timestamp. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_getEstimation (dwEgomotionResult *result, dwEgomotionConstHandle_t obj) |
| | Gets the latest state estimate. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_getEstimationTimestamp (dwTime_t *timestamp, dwEgomotionConstHandle_t obj) |
| | Gets the timestamp of the latest state estimate. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_getGyroscopeBias (dwVector3f *gyroBias, dwEgomotionConstHandle_t obj) |
| | Get estimated gyroscope bias. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_getHistoryElement (dwEgomotionResult *pose, dwEgomotionUncertainty *uncertainty, size_t index, dwEgomotionConstHandle_t obj) |
| | Returns an element from the motion history that is currently available. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_getHistorySize (size_t *size, dwEgomotionConstHandle_t obj) |
| | Returns the number of elements currently stored in the history. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_getMotionModel (dwMotionModel *model, dwEgomotionConstHandle_t obj) |
| | Returns the type of the motion model used. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_getUncertainty (dwEgomotionUncertainty *result, dwEgomotionConstHandle_t obj) |
| | Gets the latest state estimate uncertainties. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_hasEstimation (bool *result, dwEgomotionConstHandle_t obj) |
| | Check whether estimation is available. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_initialize (dwEgomotionHandle_t *obj, const dwEgomotionParameters *params, dwContextHandle_t ctx) |
| | Initializes the egomotion module. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_initParamsFromRig (dwEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, const char *imuSensorName, const char *vehicleSensorName) |
| | Initialize egomotion parameters from a provided RigConfiguration. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_initParamsFromRigByIndex (dwEgomotionParameters *params, dwConstRigHandle_t rigConfiguration, uint32_t imuSensorIdx, uint32_t vehicleSensorIdx) |
| | Same as dwEgomotion_initParamsFromRig however uses sensor indices in rigConfiguration instead of their names. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_release (dwEgomotionHandle_t obj) |
| | Releases the egomotion module. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_reset (dwEgomotionHandle_t obj) |
| | Resets the state estimate and all history of the egomotion module. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_steeringAngleToSteeringWheelAngle (float32_t *steeringWheelAngle, float32_t steeringAngle, dwEgomotionHandle_t obj) |
| | Convert steering angle to steering wheel angle. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_steeringWheelAngleToSteeringAngle (float32_t *steeringAngle, float32_t steeringWheelAngle, dwEgomotionHandle_t obj) |
| | Convert steering wheel angle to steering angle. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_update (dwTime_t timestamp_us, dwEgomotionHandle_t obj) |
| | Runs the motion model estimation for a given timestamp. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_updateIMUExtrinsics (const dwTransformation3f *imuToRig, dwEgomotionHandle_t obj) |
| | This method updates the IMU extrinsics to convert from the IMU coordinate system to the vehicle rig coordinate system. More...
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| DW_API_PUBLIC dwStatus | dwEgomotion_updateVehicle (const dwVehicle *vehicle, dwEgomotionHandle_t obj) |
| | This method updates the egomotion module with an updated vehicle. More...
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