Egomotion2.h File Reference

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Data Structures
struct	dwEgomotionMeasurementParameters
	Egomotion measurement parameters. More...
struct	dwEgomotionVMOParameters
	Vehicle motion observer parameters. More...
struct	dwEgomotionWheelObserverParameters
	Wheel observer parameters. More...
struct	dwEgomotionVehicleMovingDirectionDetectorParameters
	Vehicle moving direction detection parameters. More...
struct	dwEgomotionIMUIntrinsics
	IMU intrinsic parameters. More...
struct	dwEgomotionSuspensionProperties
	Suspension properties. More...
struct	dwEgomotionParameters2
	Egomotion parameters. More...

Typedefs
typedef enum dwEgomotionMeasurementTypes	dwEgomotionMeasurementTypes
	Measurements used by egomotion. More...
typedef enum dwEgomotionGroundSpeedMeasurementTypes	dwEgomotionGroundSpeedMeasurementTypes
	Ground speed measurement types. More...
typedef enum dwEgomotionDirectionMode	dwEgomotionDirectionMode
	Vehicle direction detection modes. More...
typedef struct dwEgomotionMeasurementParameters	dwEgomotionMeasurementParameters
	Egomotion measurement parameters. More...
typedef struct dwEgomotionVMOParameters	dwEgomotionVMOParameters
	Vehicle motion observer parameters. More...
typedef struct dwEgomotionWheelObserverParameters	dwEgomotionWheelObserverParameters
	Wheel observer parameters. More...
typedef struct dwEgomotionVehicleMovingDirectionDetectorParameters	dwEgomotionVehicleMovingDirectionDetectorParameters
	Vehicle moving direction detection parameters. More...
typedef struct dwEgomotionIMUIntrinsics	dwEgomotionIMUIntrinsics
	IMU intrinsic parameters. More...
typedef struct dwEgomotionSuspensionProperties	dwEgomotionSuspensionProperties
	Suspension properties. More...
typedef struct dwEgomotionParameters2	dwEgomotionParameters2
	Egomotion parameters. More...

Enumerations
enum	dwEgomotionMeasurementTypes {   DW_EGOMOTION_MEASUREMENT_STEERING = 0,   DW_EGOMOTION_MEASUREMENT_SUSPENSION = 1,   DW_EGOMOTION_MEASUREMENT_ANGULAR_ACCELERATION = 2,   DW_EGOMOTION_MEASUREMENT_PROPER_ACCELERATION = 3,   DW_EGOMOTION_MEASUREMENT_ANGULAR_VELOCITY = 4,   DW_EGOMOTION_MEASUREMENT_LINEAR_GROUND_SPEED = 5,   DW_EGOMOTION_MEASUREMENT_LINEAR_BODY_SPEED = 6,   DW_EGOMOTION_MEASUREMENT_WHEEL_TICKS = 7,   DW_EGOMOTION_MEASUREMENT_WHEEL_SPEEDS = 8,   DW_EGOMOTION_MEASUREMENT_TRAILER_ANGLE = 9,   DW_EGOMOTION_MEASUREMENT_TYPES_COUNT }
	Measurements used by egomotion. More...
enum	dwEgomotionGroundSpeedMeasurementTypes {   DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_SPEEDS_REAR_AXLE = 0,   DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_SPEEDS_BOTH_AXLES = 1,   DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_TICKS_AND_SPEEDS_REAR_AXLE = 2,   DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_TICKS_AND_SPEEDS_BOTH_AXLES = 3,   DW_EGOMOTION_GROUND_SPEED_FROM_LINEAR_SPEED = 4,   DW_EGOMOTION_GROUND_SPEED_COUNT }
	Ground speed measurement types. More...
enum	dwEgomotionDirectionMode {   DW_EGOMOTION_DIRECTION_FROM_SPEED_SIGN = 0,   DW_EGOMOTION_DIRECTION_FROM_WHEEL_DIR_AND_GEAR = 1,   DW_EGOMOTION_DIRECTION_FROM_SPEED_SIGN_AND_GEAR = 2,   DW_EGOMOTION_DIRECTION_COUNT }
	Vehicle direction detection modes. More...

Functions
DW_API_PUBLIC dwStatus	dwEgomotion2_initParamsFromRig (dwEgomotionParameters2 *params, dwConstRigHandle_t rigConfiguration, char const *imu1Name, char const *imu2Name, char const *imu3Name)
	Initializes the egomotion parameters to sane defaults given vehicle configuration. More...
DW_API_PUBLIC dwStatus	dwEgomotion2_initDefaultParams (dwEgomotionParameters2 *params)
	Initializes the egomotion parameters to sane defaults applicable to most vehicles. More...
DW_API_PUBLIC dwStatus	dwEgomotion2_initParamsFromRigByIndex (dwEgomotionParameters2 *params, dwConstRigHandle_t rigConfiguration, uint32_t const imu1Index, uint32_t const imu2Index, uint32_t const imu3Index)
	Initializes the egomotion parameters to sane defaults given vehicle configuration. More...
DW_API_PUBLIC dwStatus	dwEgomotion2_initialize (dwEgomotionHandle_t *const obj, dwEgomotionParameters2 const *params, dwContextHandle_t const ctx)
	Initializes the egomotion 2.0 module. More...
DW_API_PUBLIC dwStatus	dwEgomotion2_initializeState (dwEgomotionStateHandle_t *state, size_t const historySize, dwContextHandle_t ctx)
	Initializes an instance of the egomotion 2.0 state history. More...
DW_API_PUBLIC dwStatus	dwEgomotion2_getAccelerometerBias (dwVector3f *accBias, dwEgomotionConstHandle_t obj)
	Get estimated accelerometer bias of the BASE IMU. More...
DW_API_PUBLIC dwStatus	dwEgomotion2_getAccelerometerBiasByIndex (dwVector3f *accBias, uint32_t const sensorIndex, dwEgomotionConstHandle_t obj)
	Get estimated accelerometer bias of a specific IMU. More...

Typedef Documentation

dwEgomotionDirectionMode

typedef enum dwEgomotionDirectionMode dwEgomotionDirectionMode

Vehicle direction detection modes.

Egomotion can estimate the vehicle moving direction from different sources depending on vehicle platform capabilities.

Select DW_EGOMOTION_DIRECTION_FROM_SPEED_SIGN if the wheel tick increments and wheel speeds are signed, indicating forward and reverse driving unambiguously.

Select DW_EGOMOTION_DIRECTION_FROM_WHEEL_DIR_AND_GEAR if the wheel tick increments and wheel speeds are unsigned, such that forward and reverse driving cannot be distinguished from these signals alone.

Select DW_EGOMOTION_DIRECTION_FROM_SPEED_SIGN_AND_GEAR if the wheel tick increments and wheel speeds are signed with ambiguous region around 0 to be resolved based on target gear and current gear signals. dwEgomotionVehicleMovingDirectionDetectorParameters::ticksAmbiguousSpeedThreshold

The default configuration for production platforms is DW_EGOMOTION_DIRECTION_FROM_WHEEL_DIR_AND_GEAR.

dwEgomotionGroundSpeedMeasurementTypes

typedef enum dwEgomotionGroundSpeedMeasurementTypes dwEgomotionGroundSpeedMeasurementTypes

Ground speed measurement types.

Egomotion can estimate vehicle ground speed from different sources depending on vehicle platform capabilities.

The default configuration for production platforms is DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_TICKS_AND_SPEEDS_BOTH_AXLES.

dwEgomotionIMUIntrinsics

typedef struct dwEgomotionIMUIntrinsics dwEgomotionIMUIntrinsics

IMU intrinsic parameters.

dwEgomotionMeasurementParameters

typedef struct dwEgomotionMeasurementParameters dwEgomotionMeasurementParameters

Egomotion measurement parameters.

dwEgomotionMeasurementTypes

typedef enum dwEgomotionMeasurementTypes dwEgomotionMeasurementTypes

Measurements used by egomotion.

dwEgomotionParameters2

typedef struct dwEgomotionParameters2 dwEgomotionParameters2

Egomotion parameters.

All parameters are required unless otherwise noted.

dwEgomotionSuspensionProperties

typedef struct dwEgomotionSuspensionProperties dwEgomotionSuspensionProperties

Suspension properties.

dwEgomotionVehicleMovingDirectionDetectorParameters

typedef struct dwEgomotionVehicleMovingDirectionDetectorParameters dwEgomotionVehicleMovingDirectionDetectorParameters

Vehicle moving direction detection parameters.

Used to inform egomotion on the moving direction of the vehicle.

dwEgomotionVMOParameters

typedef struct dwEgomotionVMOParameters dwEgomotionVMOParameters

Vehicle motion observer parameters.

dwEgomotionWheelObserverParameters

typedef struct dwEgomotionWheelObserverParameters dwEgomotionWheelObserverParameters

Wheel observer parameters.

Enumeration Type Documentation

dwEgomotionDirectionMode

enum dwEgomotionDirectionMode

Vehicle direction detection modes.

Egomotion can estimate the vehicle moving direction from different sources depending on vehicle platform capabilities.

Select DW_EGOMOTION_DIRECTION_FROM_SPEED_SIGN if the wheel tick increments and wheel speeds are signed, indicating forward and reverse driving unambiguously.

Select DW_EGOMOTION_DIRECTION_FROM_WHEEL_DIR_AND_GEAR if the wheel tick increments and wheel speeds are unsigned, such that forward and reverse driving cannot be distinguished from these signals alone.

Select DW_EGOMOTION_DIRECTION_FROM_SPEED_SIGN_AND_GEAR if the wheel tick increments and wheel speeds are signed with ambiguous region around 0 to be resolved based on target gear and current gear signals. dwEgomotionVehicleMovingDirectionDetectorParameters::ticksAmbiguousSpeedThreshold

The default configuration for production platforms is DW_EGOMOTION_DIRECTION_FROM_WHEEL_DIR_AND_GEAR.

Enumerator
DW_EGOMOTION_DIRECTION_FROM_SPEED_SIGN	Vehicle Moving Direction based on signed wheel encoder information.
DW_EGOMOTION_DIRECTION_FROM_WHEEL_DIR_AND_GEAR	Vehicle Moving Direction based on unsigned wheel encoder, wheel direction and gear information.
DW_EGOMOTION_DIRECTION_FROM_SPEED_SIGN_AND_GEAR	Vehicle Moving Direction based on signed wheel encoder and gear information.
DW_EGOMOTION_DIRECTION_COUNT

Definition at line 117 of file Egomotion2.h.

dwEgomotionGroundSpeedMeasurementTypes

enum dwEgomotionGroundSpeedMeasurementTypes

Ground speed measurement types.

Egomotion can estimate vehicle ground speed from different sources depending on vehicle platform capabilities.

The default configuration for production platforms is DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_TICKS_AND_SPEEDS_BOTH_AXLES.

Enumerator
DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_SPEEDS_REAR_AXLE	Ground speed from wheel speeds only rear axle (Wheel observer is disabled)
DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_SPEEDS_BOTH_AXLES	Ground speed from wheel speeds only both axle (Wheel observer is disabled)
DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_TICKS_AND_SPEEDS_REAR_AXLE	Ground speed from wheel ticks and speeds rear axle (Wheel observer is enabled)
DW_EGOMOTION_GROUND_SPEED_FROM_WHEEL_TICKS_AND_SPEEDS_BOTH_AXLES	Ground speed from wheel ticks and speeds both axles (Wheel observer is enabled)
DW_EGOMOTION_GROUND_SPEED_FROM_LINEAR_SPEED	Ground speed from signed vehicle linear speed at rear axle center (Wheel observer is disabled)
DW_EGOMOTION_GROUND_SPEED_COUNT

Definition at line 84 of file Egomotion2.h.

dwEgomotionMeasurementTypes

enum dwEgomotionMeasurementTypes

Measurements used by egomotion.

Enumerator
DW_EGOMOTION_MEASUREMENT_STEERING	See also dwVehicleIOState steering
DW_EGOMOTION_MEASUREMENT_SUSPENSION	See also dwVehicleIOState suspension
DW_EGOMOTION_MEASUREMENT_ANGULAR_ACCELERATION	IMU angular acceleration [rad/s^2].
DW_EGOMOTION_MEASUREMENT_PROPER_ACCELERATION	See also dwIMUFrame acceleration
DW_EGOMOTION_MEASUREMENT_ANGULAR_VELOCITY	See also dwIMUFrame turnrate
DW_EGOMOTION_MEASUREMENT_LINEAR_GROUND_SPEED	See also dwVehicleIOState speeds
DW_EGOMOTION_MEASUREMENT_LINEAR_BODY_SPEED	Linear body speed [m/s].
DW_EGOMOTION_MEASUREMENT_WHEEL_TICKS
DW_EGOMOTION_MEASUREMENT_WHEEL_SPEEDS	See also dwVehicleIOState wheelTicks
DW_EGOMOTION_MEASUREMENT_TRAILER_ANGLE	See also dwVehicleIOState wheelSpeeds
DW_EGOMOTION_MEASUREMENT_TYPES_COUNT	See also dwVehicleIOState articulationAngle

Definition at line 61 of file Egomotion2.h.

Function Documentation

dwEgomotion2_getAccelerometerBias()

DW_API_PUBLIC dwStatus dwEgomotion2_getAccelerometerBias	(	dwVector3f *	accBias,
		dwEgomotionConstHandle_t	obj
	)

Get estimated accelerometer bias of the BASE IMU.

See also

dwEgomotionIMUIdentifier.

Parameters

[in,out]	accBias	Pointer to dwVector3f to be filled with accelerometer biases [m/s^2].
[in]	obj	Egomotion handle.

Returns

DW_INVALID_ARGUMENT - if the provided egomotion handle is invalid.
DW_NOT_SUPPORTED - if the given egomotion handle does not support the request
DW_NOT_READY - if the online estimation is not ready yet but an initial bias guess is available
DW_NOT_AVAILABLE - if the online estimation is not ready yet and no initial bias guess is available
DW_SUCCESS - if online accelerometer bias estimation has accepted a value

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwEgomotion2_getAccelerometerBiasByIndex()

DW_API_PUBLIC dwStatus dwEgomotion2_getAccelerometerBiasByIndex	(	dwVector3f *	accBias,
		uint32_t const	sensorIndex,
		dwEgomotionConstHandle_t	obj
	)

Get estimated accelerometer bias of a specific IMU.

Parameters

[in,out]	accBias	Pointer to dwVector3f to be filled with accelerometer biases [m/s^2].
[in]	sensorIndex	Identifier of IMU to get bias for
[in]	obj	Egomotion handle.

Returns

DW_INVALID_ARGUMENT - if the provided egomotion handle is invalid or the sensorIndex is not in use.
DW_NOT_SUPPORTED - if the given egomotion handle does not support the request
DW_NOT_READY - if the online estimation is not ready yet but an initial bias guess is available
DW_NOT_AVAILABLE - if the online estimation is not ready yet and no initial bias guess is available
DW_SUCCESS - if online accelerometer bias estimation has accepted a value

API Group

• Init: Yes
• Runtime: Yes
• De-Init: Yes

dwEgomotion2_initDefaultParams()

DW_API_PUBLIC dwStatus dwEgomotion2_initDefaultParams

(

dwEgomotionParameters2 *

params

)

Initializes the egomotion parameters to sane defaults applicable to most vehicles.

This API does not set the required vehicle-specific parameters which must be provided separately.

See also dwEgomotion2_initParamsFromRig

Parameters

[in,out]

params

A pointer to the egomotion parameters to be filled out.

Returns

DW_INVALID_ARGUMENT - if provided arguments are invalid.
DW_SUCCESS - if the egomotion parameters have been set successfully.

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwEgomotion2_initialize()

DW_API_PUBLIC dwStatus dwEgomotion2_initialize	(	dwEgomotionHandle_t *const	obj,
		dwEgomotionParameters2 const *	params,
		dwContextHandle_t const	ctx
	)

Initializes the egomotion 2.0 module.

Instantiates the subfunctions composing the overall module and allocates memory for their operation. Configuration of the module is provided by the params argument. Default parameters can be obtained from the dwEgomotion2_initParamsFromRig function.

Parameters

[in,out]	obj	A pointer to the egomotion handle to be set for the created module.
[in]	params	A pointer to the configuration parameters of the module.
[in]	ctx	Specifies the handler to the context under which the Egomotion module is created.

Returns

DW_INVALID_ARGUMENT - if provided egomotion handle or parameters are invalid.
DW_INVALID_HANDLE - if the provided DriveWorks context handle is invalid.
DW_SUCCESS - if the initialization is successful.

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwEgomotion2_initializeState()

DW_API_PUBLIC dwStatus dwEgomotion2_initializeState	(	dwEgomotionStateHandle_t *	state,
		size_t const	historySize,
		dwContextHandle_t	ctx
	)

Initializes an instance of the egomotion 2.0 state history.

This empty state history instance can be used to deserialize from a binary representation of the state. After deserialization state can be queried with state API for it's content. The state can contain internally a history of up-to passed amount of elements.

Parameters

[out]	state	Handle to be set with pointer to created empty state.
[in]	historySize	State history size (maximum capacity). If left 0, a default size of 1000 is used.
[in]	ctx	Handle of the context.

Returns

DW_INVALID_ARGUMENT - if given state handle is null
DW_INVALID_HANDLE - if context handle is invalid
DW_SUCCESS - if the call was successful.

Note

Ownership of the state goes back to caller. The state has to be released with dwEgomotionState_release.

If passed historySize is smaller than the egomotion internal history capacity, any retrieval of the state with dwEgomotion_getState will fill out this state's only with as much data as can fit, dropping oldest entries. This in turn would mean that calls to dwEgomotionState_computeRelativeTransformation might not succeed if requested for timestamp outside of the covered history.

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwEgomotion2_initParamsFromRig()

DW_API_PUBLIC dwStatus dwEgomotion2_initParamsFromRig	(	dwEgomotionParameters2 *	params,
		dwConstRigHandle_t	rigConfiguration,
		char const *	imu1Name,
		char const *	imu2Name,
		char const *	imu3Name
	)

Initializes the egomotion parameters to sane defaults given vehicle configuration.

This API is used to initialize parameters for egomotion 2.0.

Parameters

[in,out]	params	A pointer to the egomotion parameters to be filled out.
[in]	rigConfiguration	A pointer to the vehicle rig configuration.
[in]	imu1Name	Name of first IMU sensor as it appears in rig configuration.
[in]	imu2Name	Name of second IMU sensor as it appears in rig configuration. Optional, can be left null (1) (2).
[in]	imu3Name	Name of third IMU sensor as it appears in rig configuration. Optional, can be left null (1).

Note

(1) will default to egomotion parameters section in rig configuration.

(2) cannot be skipped if imu3Name is specified.

Returns

DW_INVALID_ARGUMENT - if provided arguments are invalid.
DW_FILE_INVALID - if the provided rig is invalid.
DW_SUCCESS - if the egomotion parameters have been set successfully.

API Group

• Init: Yes
• Runtime: No
• De-Init: No

dwEgomotion2_initParamsFromRigByIndex()

DW_API_PUBLIC dwStatus dwEgomotion2_initParamsFromRigByIndex	(	dwEgomotionParameters2 *	params,
		dwConstRigHandle_t	rigConfiguration,
		uint32_t const	imu1Index,
		uint32_t const	imu2Index,
		uint32_t const	imu3Index
	)

Initializes the egomotion parameters to sane defaults given vehicle configuration.

This API is used to initialize parameters for egomotion 2.0.

Parameters

[in,out]	params	A pointer to the egomotion parameters to be filled out.
[in]	rigConfiguration	A pointer to the vehicle rig configuration.
[in]	imu1Index	Index of first IMU sensor as it appears in rig configuration.
[in]	imu2Index	Index of second IMU sensor as it appears in rig configuration. Optional, can be set to UINT32_MAX (1) (2).
[in]	imu3Index	Index of third IMU sensor as it appears in rig configuration. Optional, can be set to UINT32_MAX (1).

Note

(1) will default to egomotion parameters section in rig configuration.

(2) cannot be skipped if imu3Index is specified.

Returns

DW_INVALID_ARGUMENT - if provided arguments are invalid.
DW_FILE_INVALID - if the provided rig is invalid.
DW_SUCCESS - if the egomotion parameters have been set successfully.

API Group

• Init: Yes
• Runtime: No
• De-Init: No