DopplerMotionEstimator.h

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#ifndef DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__
#define DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__

#include <dw/core/context/Context.h>
#include <dw/sensors/radar/Radar.h>

#ifdef __cplusplus
extern "C" {
#endif

typedef struct dwRadarDopplerMotion
{
    float32_t speed;

    float32_t heading;

    dwMatrix2f covariance;

    float32_t confidenceSpeed;

    float32_t confidenceHeading;

    dwTime_t hostTimestamp_us;

    dwRadarRange radarRange;

} dwRadarDopplerMotion;

typedef struct dwRadarDopplerMotionObject* dwRadarDopplerMotionHandle_t;

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_initialize(dwRadarDopplerMotionHandle_t* obj,
                                         cudaStream_t stream,
                                         dwContextHandle_t ctx);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_setCUDAStream(cudaStream_t stream,
                                            dwRadarDopplerMotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getCUDAStream(cudaStream_t* stream,
                                            dwRadarDopplerMotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_processAsync(const dwRadarScan* radarScan,
                                           dwRadarDopplerMotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_getMotion(dwRadarDopplerMotion* motion,
                                        dwRadarDopplerMotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_reset(dwRadarDopplerMotionHandle_t obj);

DW_API_PUBLIC
dwStatus dwRadarDopplerMotion_release(dwRadarDopplerMotionHandle_t obj);

#ifdef __cplusplus
}
#endif

#endif // DW_EGOMOTION_RADAR_DOPPLERMOTIONESTIMATOR_H__