Vehicle.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_RIG_VEHICLE_H_
#define DW_RIG_VEHICLE_H_
// Generated by dwProto from vehicle.proto DO NOT EDIT BY HAND!
// See //3rdparty/shared/dwproto/README.md for more information
 
#include <dw/pbwire/BasicTypes.h>
 
#include <dw/core/base/Exports.h>
 
#include <dw/core/base/MatrixTypes.h>
 
#ifdef __cplusplus
extern "C" {
#endif
 
#define DW_VEHICLE_STEER_MAP_POLY_DEGREE 5U
// coverity[misra_c_2012_rule_5_4_violation] Deviation Record: AV-NDAS-SWSADR-000
#define DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE (DW_VEHICLE_STEER_MAP_POLY_DEGREE + 1U)
#define DW_VEHICLE_MAX_NUM_TRAILERS 1U
#define DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE 15U
#define DW_VEHICLE_NUM_CONTOUR_POINTS 200U
 
// 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 dwVehicleTrailerType {
    DW_VEHICLE_TRAILER_TYPE_FULL = 0, 
    DW_VEHICLE_TRAILER_TYPE_SEMI = 1, 
} dwVehicleTrailerType;
 
// 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 dwVehicleWheels {
    DW_VEHICLE_WHEEL_FRONT_LEFT  = 0,
    DW_VEHICLE_WHEEL_FRONT_RIGHT = 1,
    DW_VEHICLE_WHEEL_REAR_LEFT   = 2,
    DW_VEHICLE_WHEEL_REAR_RIGHT  = 3,
 
    DW_VEHICLE_NUM_WHEELS = 4,
} dwVehicleWheels;
 
// 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 dwVehicleBodyProperties
{
    float32_t length;
 
    float32_t width;
 
    float32_t widthWithoutMirrors;
 
    float32_t height;
 
    dwVector3f boundingBoxPosition;
 
    dwVector3f centerOfMass;
 
    dwVector3f inertia;
 
    float32_t mass;
 
    float32_t rearAxleToAPillar;
 
    float32_t rearAxleToBPillar;
 
    float32_t rearAxleToCPillar;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleBodyProperties;
 
// 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 dwVehicleAxleProperties
{
    float32_t position;
 
    float32_t track;
 
    float32_t wheelRadiusLeft;
 
    float32_t wheelRadiusRight;
 
    float32_t corneringStiffness;
 
    float32_t nominalWheelRadiusLeft;
 
    float32_t nominalWheelRadiusRight;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleAxleProperties;
 
// 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 dwVehicleTorqueLUT
{
    float32_t throttlePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
    float32_t throttleSpeedInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
    float32_t throttleTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE][DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
    float32_t brakePedalInput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
 
    float32_t brakeTorqueOutput[DW_VEHICLE_THROTTLE_BRAKE_LUT_SIZE];
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleTorqueLUT;
 
// 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 dwVehicleActuationProperties
{
    dwVehicleTorqueLUT torqueLUT;
 
    float32_t effectiveMass;
 
    DW_DEPRECATED("throttleActuatorTimeConstant is deprecated, please use accelerationTimeConstant_s instead.")
    float32_t throttleActuatorTimeConstant;
 
    DW_DEPRECATED("throttleActuatorTimeDelay is deprecated, please use accelerationTimeDelay_s instead.")
    float32_t throttleActuatorTimeDelay;
 
    DW_DEPRECATED("brakeActuatorTimeConstant is deprecated, please use decelerationTimeConstant_s instead.")
    float32_t brakeActuatorTimeConstant;
 
    DW_DEPRECATED("brakeActuatorTimeDelay is deprecated, please use decelerationTimeDelay_s instead.")
    float32_t brakeActuatorTimeDelay;
 
    DW_DEPRECATED("driveByWireTimeConstant is deprecated, please use frontWheelAngleTimeConstant_s instead.")
    float32_t driveByWireTimeConstant;
 
    DW_DEPRECATED("driveByWireTimeDelay is deprecated, please use frontWheelAngleTimeDelay_s instead.")
    float32_t driveByWireTimeDelay;
 
    DW_DEPRECATED("driveByWireNaturalFrequency is deprecated")
    float32_t driveByWireNaturalFrequency;
 
    DW_DEPRECATED("driveByWireDampingRatio is deprecated")
    float32_t driveByWireDampingRatio;
 
    DW_DEPRECATED("driveByWireSecondOrder is deprecated")
    bool isDriveByWireSecondOrder;
 
    float32_t maxSteeringWheelAngle;
 
    float32_t steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE];
 
    float32_t accelerationTimeConstant_s;
 
    float32_t accelerationTimeDelay_s;
 
    float32_t decelerationTimeConstant_s;
 
    float32_t decelerationTimeDelay_s;
 
    float32_t curvatureTimeConstant_s;
 
    float32_t curvatureTimeDelay_s;
 
    float32_t frontWheelAngleTimeConstant_s;
 
    float32_t frontWheelAngleTimeDelay_s;
 
    float32_t rearWheelAngleTimeConstant_s;
 
    float32_t rearWheelAngleTimeDelay_s;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleActuationProperties;
 
// 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 dwVehicleWheelEncoderProperties
{
    int32_t ticksPerTurn;
 
    int32_t ticksCountMin;
 
    int32_t ticksCountMax;
 
    int32_t ticksCountInvalid;
 
    float32_t speedQuantization;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleWheelEncoderProperties;
 
// 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 dwVehicleDynamicsProperties
{
    float32_t sideSlipAngleGradient;
 
    float32_t understeerAngleGradient;
 
    float32_t lowSpeedRearSideSlipGradientForward;
 
    float32_t lowSpeedRearSideSlipGradientBackward;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleDynamicsProperties;
 
// 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 dwVehicleSuspensionProperties
{
    float32_t rollAngleGradient;
 
    float32_t pitchAngleGradientAccel;
 
    float32_t pitchAngleGradientBrake;
 
    dwTransformation3f rearAxleToRoadLevelDesignMass;
 
    dwTransformation3f rearAxleToRoadLevelCurbMass;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleSuspensionProperties;
 
// 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 dwVehicleArticulationProperties
{
    dwVector3f leadingVehicleHingePosition;
 
    dwVector3f trailingVehicleHingePosition;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleArticulationProperties;
 
// 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 dwVehicleCabin
{
    dwVehicleBodyProperties body;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleCabin;
 
// 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 dwVehicleTrailer
{
    dwVehicleBodyProperties body;
 
    dwVehicleAxleProperties axleFront;
 
    dwVehicleAxleProperties axleRear;
 
    dwVehicleTrailerType type;
 
    dwVehicleArticulationProperties articulation;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicleTrailer;
 
// 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 dwGenericVehicle
{
    dwVehicleBodyProperties body;
 
    dwVehicleAxleProperties axleFront;
 
    dwVehicleAxleProperties axleRear;
 
    dwVehicleActuationProperties actuation;
 
    dwVehicleDynamicsProperties dynamics;
 
    dwVehicleSuspensionProperties suspension;
 
    dwVehicleWheelEncoderProperties wheelEncoder;
 
    dwVehicleCabin cabin;
 
    bool hasCabin;
 
    dwVehicleTrailer trailers[DW_VEHICLE_MAX_NUM_TRAILERS];
    uint32_t numTrailers; 
 
    float32_t contourPointsX[DW_VEHICLE_NUM_CONTOUR_POINTS];
 
    float32_t contourPointsY[DW_VEHICLE_NUM_CONTOUR_POINTS];
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwGenericVehicle;
 
// 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 dwVehicle
{
    float32_t height;                  
    float32_t length;                  
    float32_t width;                   
    float32_t widthWithMirrors;        
    float32_t wheelbase;               
    float32_t axlebaseFront;           
    float32_t axlebaseRear;            
    float32_t bumperRear;              
    float32_t bumperFront;             
    float32_t steeringCoefficient;     
    float32_t mass;                    
    dwVector3f inertia3D;              
    float32_t effectiveMass;           
    float32_t frontCorneringStiffness; 
    float32_t rearCorneringStiffness;  
    float32_t centerOfMassToRearAxle;  
    float32_t driveByWireTimeDelay;    
    float32_t driveByWireTimeConstant; 
 
    DW_DEPRECATED("Will be removed, unused")
    float32_t aerodynamicDragCoeff; 
 
    DW_DEPRECATED("Will be removed, unused")
    float32_t frontalArea;             
    float32_t centerOfMassToFrontAxle; 
    float32_t centerOfMassHeight;      
 
    DW_DEPRECATED("Will be removed, unused")
    float32_t aeroHeight; 
 
    DW_DEPRECATED("Will be removed, unused")
    float32_t rollingResistanceCoeff; 
 
    DW_DEPRECATED("Will be removed, unused")
    float32_t maxEnginePower;                     
    float32_t throttleActuatorTimeConstant;       
    float32_t brakeActuatorTimeConstant;          
    dwVehicleTorqueLUT torqueLUT;                 
    float32_t wheelRadius[DW_VEHICLE_NUM_WHEELS]; 
 
    float32_t steeringWheelToSteeringMap[DW_VEHICLE_STEER_MAP_POLY_DEGREE_PLUS_ONE];
    float32_t maxSteeringWheelAngle; 
 
    float32_t frontSteeringOffset;
    // coverity[misra_c_2012_rule_2_3_violation] Deviation Record: AV-NDAS-DWPROTO-SWSADR-006
} dwVehicle;
 
#ifdef __cplusplus
}
#endif
 
#endif // DW_RIG_VEHICLE_H_