Egomotion.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2015-2025 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_EGOMOTION_H_
#define DW_EGOMOTION_BASE_EGOMOTION_H_
 
#include <dw/core/base/Config.h>
#include <dw/core/base/Exports.h>
#include <dw/core/context/Context.h>
#include <dw/core/base/Types.h>
 
#include <dw/control/vehicleio/VehicleIO.h>
#include <dw/control/vehicleio/VehicleIOValStructures.h>
 
#include <dw/sensors/imu/IMU.h>
 
#include <dw/rig/Rig.h>
#include <dw/rig/CoordinateSystem.h>
 
#include "EgomotionTypes.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwEgomotionObject* dwEgomotionHandle_t;
 
typedef struct dwEgomotionObject const* dwEgomotionConstHandle_t;
 
typedef dwEgomotionTransformationQuality dwEgomotionRelativeUncertainty;
 
DW_API_PUBLIC
dwStatus dwEgomotion_initParamsFromRig(dwEgomotionParameters* params, dwConstRigHandle_t rigConfiguration,
                                       const char* imuSensorName, const char* vehicleSensorName);
 
DW_API_PUBLIC
dwStatus dwEgomotion_initParamsFromRigByIndex(dwEgomotionParameters* params, dwConstRigHandle_t rigConfiguration,
                                              uint32_t imuSensorIdx, uint32_t vehicleSensorIdx);
 
DW_API_PUBLIC
dwStatus dwEgomotion_initialize(dwEgomotionHandle_t* obj, const dwEgomotionParameters* params, dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwEgomotion_reset(dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_release(dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_addVehicleState(const dwVehicleIOState* state, dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_addVehicleIOState(dwVehicleIOSafetyState const* safeState,
                                       dwVehicleIONonSafetyState const* nonSafeState,
                                       dwVehicleIOActuationFeedback const* actuationFeedback,
                                       dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_updateVehicle(const dwVehicle* vehicle, dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_addIMUMeasurement(const dwIMUFrame* imu, dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_addIMUMeasurementByIndex(const dwIMUFrame* imu, uint32_t const sensorIndex, dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_updateIMUExtrinsics(const dwTransformation3f* imuToRig, dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_update(dwTime_t timestamp_us, dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_estimate(dwEgomotionResult* pose, dwEgomotionUncertainty* uncertainty,
                              dwTime_t timestamp_us, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_computeRelativeTransformation(dwTransformation3f* poseAtoB,
                                                   dwEgomotionTransformationQuality* quality,
                                                   dwTime_t timestamp_a, dwTime_t timestamp_b,
                                                   dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_computeBodyTransformation(dwTransformation3f* const transformationAToB,
                                               dwEgomotionTransformationQuality* const quality,
                                               dwTime_t const timestamp,
                                               dwCoordinateSystem const coordinateSystemA,
                                               dwCoordinateSystem const coordinateSystemB,
                                               dwEgomotionConstHandle_t const obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getEstimationTimestamp(dwTime_t* timestamp, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_hasEstimation(bool* result, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getEstimation(dwEgomotionResult* result, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getUncertainty(dwEgomotionUncertainty* result, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getGyroscopeBias(dwVector3f* gyroBias, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getGyroscopeBiasByIndex(dwVector3f* gyroBias, uint32_t const sensorIndex, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getHistorySize(size_t* size, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getHistoryElement(dwEgomotionResult* pose, dwEgomotionUncertainty* uncertainty,
                                       size_t index, dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_getMotionModel(dwMotionModel* model, dwEgomotionConstHandle_t obj);
 
//-----------------------------
// utility functions
 
DW_API_PUBLIC
dwStatus dwEgomotion_applyRelativeTransformation(dwTransformation3f* vehicleToWorldAtB,
                                                 const dwTransformation3f* vehicleAToB,
                                                 const dwTransformation3f* vehicleToWorldAtA);
 
DW_API_PUBLIC
DW_DEPRECATED("dwEgomotion_computeSteeringAngleFromIMU() is deprecated and will be removed soon. ")
dwStatus dwEgomotion_computeSteeringAngleFromIMU(float32_t* steeringAngle,
                                                 float32_t* inverseSteeringR,
                                                 const dwIMUFrame* imuMeasurement,
                                                 dwEgomotionConstHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_steeringWheelAngleToSteeringAngle(float32_t* steeringAngle, float32_t steeringWheelAngle,
                                                       dwEgomotionHandle_t obj);
 
DW_API_PUBLIC
dwStatus dwEgomotion_steeringAngleToSteeringWheelAngle(float32_t* steeringWheelAngle, float32_t steeringAngle,
                                                       dwEgomotionHandle_t obj);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_EGOMOTION_BASE_EGOMOTION_H_