EgomotionExtra.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2022-2025 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_BASE_EGOMOTIONEXTRA_H_
#define DW_EGOMOTION_BASE_EGOMOTIONEXTRA_H_
// Generated by dwProto from egomotion_extra.proto DO NOT EDIT BY HAND!
// See //3rdparty/shared/dwproto/README.md for more information
 
//WARNING!!!
// Please don't use any type definition in this file.
// All of data types in this file are going to be modified and will not
// follow Nvidia deprecation policy.
 
#include <dw/pbwire/BasicTypes.h>
 
#include <dw/egomotion/base/EgomotionTypes.h>
#include <dw/core/base/GeometricTypes.h>
#include <dw/core/base/MatrixTypes.h>
#include <dw/core/base/TypesExtra.h>
#include <dw/rig/Vehicle.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DW_EGOMOTION_MANEUVER_MAX_ARRAY_SIZE 3
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef enum dwEgomotionDirectionTypes {
    DW_EGOMOTION_DIRECTION_UNKNOWN  = 0,
    DW_EGOMOTION_DIRECTION_FORWARD  = 1,
    DW_EGOMOTION_DIRECTION_BACKWARD = 2,
    DW_EGOMOTION_DIRECTION_STOP     = 3,
} dwEgomotionDirectionTypes;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef 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,
} dwEgomotionCalibrationState;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef 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_FORWARD_AND_DYNAMIC_OBJECT = 5,
    DW_EGOMOTION_MANEUVER_MOTIONTYPE_FORCE32                    = 0x7fffffff,
} dwEgomotionManeuverMotionType;
 
// This amounts to max(EgomotionManeuverMotionType) + 1, i.e. the required size of
// an array if these enum values are interpreted as array offsets.
// coverity[misra_c_2012_rule_2_5_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
#define DW_EGOMOTION_MANEUVER_MOTIONTYPE_COUNT 6
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef 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,
} dwEgomotionCalibrationPropertiesVariantType;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef enum dwEgomotionCalibrationPropertiesInitializationType {
    DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_UNKNOWN             = 0,
    DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_PREVIOUSLY_ACCEPTED = 1, 
    DW_EGOMOTION_CALIBRATION_PROPERTY_INITIALIZATION_FORCE32             = 0x7fffffff,
} dwEgomotionCalibrationPropertiesInitializationType;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionVehicleIOState
{
    float32_t wheelSpeed[DW_VEHICLE_NUM_WHEELS];
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionVehicleIOState;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionPose
{
    dwEgomotionResult pose;
    dwEgomotionUncertainty uncertainty;
    dwVector3d positionLocalFrame;
    dwQuaternionf rotationLocalFrame;
    dwEgomotionVehicleIOState ioState;
    dwTransformation3f rigToChassis;
    dwTransformation3f rigToRoadPlane;
    dwTransformation3f rigToTrailer;
    int64_t extraFlags;
    dwVector3f rawLinearVelocity;
    dwVector3f gyroscopeBias;
    dwEgomotionDirectionTypes vehicleRollingDirection;
    dwVector3f accelerometerBias;
 
    // Timestamp of *computation*, not timestamp of validity. Warning!
    dwTime_t computationTimestamp;
 
    // Sequence ID
    uint32_t sequenceId;
    float32_t frontSteeringAngleOffset;
    uint32_t paddingDoNotUse[2];
    float32_t relativeTranslationCovariance[6];
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionPose;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionCalibrationStatus
{
    bool started;
 
    dwEgomotionCalibrationState state;
 
    float32_t percentageComplete;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionCalibrationStatus;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionManeuverMotion
{
    dwEgomotionManeuverMotionType type;               
    dwOptionalf targetDurationSec;                    
    dwOptionalf targetSpeedMeterPerSec;               
    dwOptionalf targetAccelerationMeterPerSecSquared; 
                                                      // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionManeuverMotion;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionManeuverStatus
{
    bool fulfilled; 
                    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionManeuverStatus;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionCalibrationProperties
{
    dwEgomotionCalibrationPropertiesVariantType variant;
    dwEgomotionCalibrationPropertiesInitializationType initialization;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionCalibrationProperties;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionManeuver
{
    dwEgomotionManeuverMotion motion; 
    dwEgomotionManeuverStatus status; 
                                      // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionManeuver;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionCalibrationManeuverArray
{
    dwEgomotionManeuver maneuvers[DW_EGOMOTION_MANEUVER_MAX_ARRAY_SIZE]; 
    size_t size;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionCalibrationManeuverArray;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionCalibratedWheelRadii
{
    float32_t currentWheelRadius[DW_VEHICLE_NUM_WHEELS];
 
    dwEgomotionCalibrationState calibrationState;
 
    dwTime_t timestamp;
 
    dwValidityStatus validity;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionCalibratedWheelRadii;
 
// coverity[misra_c_2012_rule_2_4_violation] Deviation Record: AV-NDAS-SWSADR-003
// coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
typedef struct dwEgomotionCalibratedExtrinsics
{
    dwTransformation3f transformation;
 
    dwEgomotionCalibrationState calibrationState;
 
    dwTime_t timestamp;
 
    dwValidityStatus validity;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwEgomotionCalibratedExtrinsics;
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_EGOMOTION_BASE_EGOMOTIONEXTRA_H_