GlobalEgomotion.h

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/*
 * SPDX-FileCopyrightText: Copyright (c) 2019-2024 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_GLOBAL_GLOBALEGOMOTION_H_
#define DW_EGOMOTION_GLOBAL_GLOBALEGOMOTION_H_
 
#include <dw/egomotion/base/Egomotion.h>
#include <dw/sensors/gps/GPS.h>
 
#include "GlobalEgomotionTypes.h"
 
#ifdef __cplusplus
extern "C" {
#endif
 
typedef struct dwGlobalEgomotionObject* dwGlobalEgomotionHandle_t;
typedef struct dwGlobalEgomotionObject const* dwGlobalEgomotionConstHandle_t;
 
typedef struct
{
    dwVector3f antennaPosition;
 
    float32_t horizontalNoiseMeter;
 
    float32_t verticalNoiseMeter;
 
    dwTime_t cycleTimeGPS;
 
    dwTime_t timeOffsetGPS;
 
    bool useHostTimeGPS;
 
} dwGlobalEgomotionGNSSCharacteristics;
 
typedef dwGlobalEgomotionGNSSCharacteristics dwGNSSCharacteristics;
 
typedef struct
{
    dwGlobalEgomotionGNSSCharacteristics sensorCharacteristics;
 
    float32_t rotationalDrift;
 
    size_t historySize;
 
} dwGlobalEgomotionParameters;
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_initParamsFromRig(dwGlobalEgomotionParameters* params,
                                             dwConstRigHandle_t rigConfiguration,
                                             const char* gpsSensorName);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_initialize(dwGlobalEgomotionHandle_t* handle,
                                      const dwGlobalEgomotionParameters* params,
                                      dwContextHandle_t ctx);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_reset(dwGlobalEgomotionHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_release(dwGlobalEgomotionHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_addRelativeMotion(const dwEgomotionResult* egomotionResult,
                                             const dwEgomotionUncertainty* egomotionUncertainty,
                                             dwGlobalEgomotionHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_addGPSMeasurement(const dwGPSFrame* measurement,
                                             dwGlobalEgomotionHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_getTimestamp(dwTime_t* timestamp,
                                        dwGlobalEgomotionConstHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_getEstimate(dwGlobalEgomotionResult* result,
                                       dwGlobalEgomotionUncertainty* uncertainty,
                                       dwGlobalEgomotionConstHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_computeEstimate(dwGlobalEgomotionResult* result,
                                           dwGlobalEgomotionUncertainty* uncertainty,
                                           dwTime_t timestamp,
                                           dwGlobalEgomotionConstHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_getHistorySize(size_t* num, dwGlobalEgomotionConstHandle_t handle);
 
DW_API_PUBLIC
dwStatus dwGlobalEgomotion_getHistoryEntry(dwGlobalEgomotionResult* result,
                                           dwGlobalEgomotionUncertainty* uncertainty,
                                           size_t index,
                                           dwGlobalEgomotionConstHandle_t handle);
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_EGOMOTION_GLOBAL_GLOBALEGOMOTION_H_