Detailed Description

Defines additional related API.

Data Structures
struct	dwEgomotionCalibratedExtrinsics
	Struct representing extrinsics calibration with validity. More...

struct	dwEgomotionCalibratedWheelRadii
	Struct representing wheel radius calibration. More...

struct	dwEgomotionCalibrationManeuverArray
	Struct to represent a collection of calibration maneuvers. More...

struct	dwEgomotionCalibrationProperties
	Definition of static calibration properties. More...

struct	dwEgomotionCalibrationStatus
	Defines the current status of an individual calibration. More...

struct	dwEgomotionManeuver
	Aggregation struct of a calibration maneuver motion description together with its current runtime status properties inferred from a calibration routine. More...

struct	dwEgomotionManeuverMotion
	Definition of a single maneuver's expected motion and optional motion properties. More...

struct	dwEgomotionManeuverStatus
	Struct to collect all status information associated with a maneuver. More...

struct	dwEgomotionPose
	Holds values required for reconstruction of Egomotion history. More...

struct	dwEgomotionVehicleIOState

Macros
#define	DW_EGOMOTION_MANEUVER_MAX_ARRAY_SIZE 3
	Represents a collection of calibration maneuvers. More...

#define	DW_EGOMOTION_MANEUVER_MOTIONTYPE_COUNT 5

Enumerations
enum	dwEgomotionCalibrationPropertiesInitializationType { DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_UNKNOWN = 0 , DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_PREVIOUSLY_ACCEPTED = 1 , DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_FORCE32 = 0x7fffffff }
	Enumeration of different initialization types of a calibration property. More...

enum	dwEgomotionCalibrationPropertiesVariantType { DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_UNKNOWN = 0 , DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_REGULAR = 1 , DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_FAST_ACCEPTANCE = 2 , DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_BOOTSTRAPPED = 3 , DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_FORCE32 = 0x7fffffff }
	Enumeration of different variant types of a calibration property. More...

enum	dwEgomotionCalibrationState { DW_EGOMOTION_CALIBRATION_STATE_NOT_ACCEPTED = 0 , DW_EGOMOTION_CALIBRATION_STATE_ACCEPTED = 1 , DW_EGOMOTION_CALIBRATION_STATE_FAILED = 2 , DW_EGOMOTION_CALIBRATION_STATE_INVALID = 3 }
	Defines the current state of an individual calibration. More...

enum	dwEgomotionDirectionTypes { DW_EGOMOTION_DIRECTION_UNKNOWN = 0 , DW_EGOMOTION_DIRECTION_FORWARD = 1 , DW_EGOMOTION_DIRECTION_BACKWARD = 2 , DW_EGOMOTION_DIRECTION_STOP = 3 }
	Defines the direction types of vehicle rolling / moving direction. More...

enum	dwEgomotionManeuverMotionType { DW_EGOMOTION_MANEUVER_MOTIONTYPE_UNSPECIFIED = 0 , DW_EGOMOTION_MANEUVER_MOTIONTYPE_FORWARD = 1 , DW_EGOMOTION_MANEUVER_MOTIONTYPE_ANY_TURN = 2 , DW_EGOMOTION_MANEUVER_MOTIONTYPE_STOP = 3 , DW_EGOMOTION_MANEUVER_MOTIONTYPE_FORWARD_AFTER_STOP = 4 , DW_EGOMOTION_MANEUVER_MOTIONTYPE_FORCE32 = 0x7fffffff }
	Enumeration of different motion types of an egomotion calibration maneuver. More...

Data Structure Documentation

◆ dwEgomotionCalibratedExtrinsics

struct dwEgomotionCalibratedExtrinsics

Data Fields
dwEgomotionCalibrationState	calibrationState	Calibration procedure state.
dwTime_t	timestamp	Timestamp of the latest input data contributing to the calibration result.
dwTransformation3f	transformation	Current calibrated extrinsic transformation.
dwValidityStatus	validity	Validity of the message.

◆ dwEgomotionCalibratedWheelRadii

struct dwEgomotionCalibratedWheelRadii

Data Fields
dwEgomotionCalibrationState	calibrationState	Calibration procedure state.
float32_t	currentWheelRadius[DW_VEHICLE_NUM_WHEELS]	Current calibrated wheel radii values.
dwTime_t	timestamp	Timestamp of the latest input data contributing to the calibration result.
dwValidityStatus	validity	Validity of the message.

◆ dwEgomotionCalibrationManeuverArray

struct dwEgomotionCalibrationManeuverArray

Data Fields
dwEgomotionManeuver	maneuvers[DW_EGOMOTION_MANEUVER_MAX_ARRAY_SIZE]	the different maneuvers of the collection
size_t	size

◆ dwEgomotionCalibrationProperties

struct dwEgomotionCalibrationProperties

Data Fields
dwEgomotionCalibrationPropertiesInitializationType	initialization
dwEgomotionCalibrationPropertiesVariantType	variant

◆ dwEgomotionCalibrationStatus

struct dwEgomotionCalibrationStatus

Data Fields
float32_t	percentageComplete	The current calibration percentage complete status. Valid percentages are in the range [0,1].
bool	started	Flag indicating whether a calibration routine is running.
dwEgomotionCalibrationState	state	The current state of a calibration routine.

◆ dwEgomotionManeuver

struct dwEgomotionManeuver

Data Fields
dwEgomotionManeuverMotion	motion	the motion of the maneuver
dwEgomotionManeuverStatus	status	the status of the maneuver

◆ dwEgomotionManeuverMotion

struct dwEgomotionManeuverMotion

Data Fields
dwOptionalf	targetAccelerationMeterPerSecSquared	if valid, represents the expected motion acceleration (meters per second^2)
dwOptionalf	targetDurationSec	if valid, represents the expected maneuver duration (in seconds)
dwOptionalf	targetSpeedMeterPerSec	if valid, represents the expected motion speed (meters per second)
dwEgomotionManeuverMotionType	type	represents the expected motion type of the maneuver

◆ dwEgomotionManeuverStatus

struct dwEgomotionManeuverStatus

Data Fields
bool	fulfilled	if false, the associated maneuver's motion is still required for a routine to complete its estimation

◆ dwEgomotionPose

struct dwEgomotionPose

Data Fields
dwVector3f	accelerometerBias
dwTime_t	computationTimestamp
int64_t	extraFlags
dwVector3f	gyroscopeBias
dwEgomotionVehicleIOState	ioState
dwEgomotionResult	pose
dwVector3d	positionLocalFrame
dwVector3f	rawLinearVelocity
dwTransformation3f	rigToChassis
dwTransformation3f	rigToRoadPlane
dwTransformation3f	rigToTrailer
dwQuaternionf	rotationLocalFrame
uint32_t	sequenceId
dwEgomotionUncertainty	uncertainty
dwEgomotionDirectionTypes	vehicleRollingDirection

◆ dwEgomotionVehicleIOState

struct dwEgomotionVehicleIOState

Data Fields
float32_t	wheelSpeed[DW_VEHICLE_NUM_WHEELS]

Macro Definition Documentation

◆ DW_EGOMOTION_MANEUVER_MAX_ARRAY_SIZE

#define DW_EGOMOTION_MANEUVER_MAX_ARRAY_SIZE 3

Represents a collection of calibration maneuvers.

Definition at line 69 of file EgomotionExtra.h.

◆ DW_EGOMOTION_MANEUVER_MOTIONTYPE_COUNT

#define DW_EGOMOTION_MANEUVER_MOTIONTYPE_COUNT 5

Definition at line 106 of file EgomotionExtra.h.

Enumeration Type Documentation

◆ dwEgomotionCalibrationPropertiesInitializationType

enum dwEgomotionCalibrationPropertiesInitializationType

Enumeration of different initialization types of a calibration property.

Enumerator
DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_UNKNOWN
DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_PREVIOUSLY_ACCEPTED	calibration was initialized with previously-accepted values
DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_FORCE32

Definition at line 118 of file EgomotionExtra.h.

◆ dwEgomotionCalibrationPropertiesVariantType

enum dwEgomotionCalibrationPropertiesVariantType

Enumeration of different variant types of a calibration property.

Enumerator
DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_UNKNOWN
DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_REGULAR	no special self-calibration condition applies
DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_FAST_ACCEPTANCE	self-calibration was initialized with previously-accepted value and is running in "fast-acceptance" mode
DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_BOOTSTRAPPED	calibration values are initialized with previously-accepted value, but self-calibration is not running
DW_EGOMOTION_CALIBRATION_PROPERTY_VARIANT_FORCE32

Definition at line 109 of file EgomotionExtra.h.

◆ dwEgomotionCalibrationState

enum dwEgomotionCalibrationState

Defines the current state of an individual calibration.

Enumerator
DW_EGOMOTION_CALIBRATION_STATE_NOT_ACCEPTED	The routine hasn't accepted an estimate.
DW_EGOMOTION_CALIBRATION_STATE_ACCEPTED	The routine has accepted an estimate and calibration continues.
DW_EGOMOTION_CALIBRATION_STATE_FAILED	The routine has failed calibration.
DW_EGOMOTION_CALIBRATION_STATE_INVALID	The calibration state is invalid (e.g. when a door with a sensor is open or a mirror is moving)

Definition at line 80 of file EgomotionExtra.h.

◆ dwEgomotionDirectionTypes

enum dwEgomotionDirectionTypes

Defines the direction types of vehicle rolling / moving direction.

Enumerator
DW_EGOMOTION_DIRECTION_UNKNOWN
DW_EGOMOTION_DIRECTION_FORWARD
DW_EGOMOTION_DIRECTION_BACKWARD
DW_EGOMOTION_DIRECTION_STOP

Definition at line 72 of file EgomotionExtra.h.

◆ dwEgomotionManeuverMotionType

enum dwEgomotionManeuverMotionType

Enumeration of different motion types of an egomotion calibration maneuver.

Enumerator
DW_EGOMOTION_MANEUVER_MOTIONTYPE_UNSPECIFIED
DW_EGOMOTION_MANEUVER_MOTIONTYPE_FORWARD
DW_EGOMOTION_MANEUVER_MOTIONTYPE_ANY_TURN
DW_EGOMOTION_MANEUVER_MOTIONTYPE_STOP
DW_EGOMOTION_MANEUVER_MOTIONTYPE_FORWARD_AFTER_STOP
DW_EGOMOTION_MANEUVER_MOTIONTYPE_FORCE32

Definition at line 95 of file EgomotionExtra.h.