DopplerMotionEstimator.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2018-2024 NVIDIA CORPORATION & AFFILIATES. All rights reserved.
 * SPDX-License-Identifier: LicenseRef-NvidiaProprietary
 *
 * NVIDIA CORPORATION, its affiliates and licensors retain all intellectual
 * property and proprietary rights in and to this material, related
 * documentation and any modifications thereto. Any use, reproduction,
 * disclosure or distribution of this material and related documentation
 * without an express license agreement from NVIDIA CORPORATION or
 * its affiliates is strictly prohibited.
 */
 
#ifndef DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__
#define DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__
 
#include <dw/core/context/Context.h>
#include <dw/sensors/radar/Radar.h>
#include <dw/control/vehicleio/VehicleIOValStructures.h>
#include <dw/rig/Vehicle.h>
 
#include "DopplerMotionEstimatorTypes.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwRadarDopplerMotionObject* dwRadarDopplerMotionHandle_t;
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_initialize(dwRadarDopplerMotionHandle_t* obj,
                                         dwRadarDopplerMotionParams const* params,
                                         cudaStream_t stream,
                                         dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getDefaultParams(dwRadarDopplerMotionParams* params);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_setCUDAStream(cudaStream_t stream,
                                            dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getCUDAStream(cudaStream_t* stream,
                                            dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_processAsync(dwRadarScan const* radarScan,
                                           dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_addVehicleIOState(dwVehicleIOSafetyState const* safeState,
                                                dwVehicleIONonSafetyState const* nonSafeState,
                                                dwVehicleIOActuationFeedback const* actuationFeedback,
                                                dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getMotion(dwRadarDopplerMotion* motion,
                                        dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_reset(dwRadarDopplerMotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_release(dwRadarDopplerMotionHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__