GlobalEgomotion.h

Go to the documentation of this file.

//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA CORPORATION & AFFILIATES assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA CORPORATION & AFFILIATES. No third party distribution is allowed unless
// expressly authorized by NVIDIA. Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA CORPORATION & AFFILIATES products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA CORPORATION & AFFILIATES.
//
// SPDX-FileCopyrightText: Copyright (c) 2019-2021 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/Egomotion.h>
#include <dw/sensors/gps/GPS.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;

} dwGNSSCharacteristics;

typedef struct
{
    dwGNSSCharacteristics sensorCharacteristics;

    float32_t rotationalDrift;

    size_t historySize;

} dwGlobalEgomotionParameters;

typedef struct
{
    dwGeoPointWGS84 position;  
    dwQuaternionf orientation; 

    bool validPosition;    
    bool validOrientation; 

    dwTime_t timestamp; 

} dwGlobalEgomotionResult;

typedef struct
{
    dwConfidence3f position;    
    dwConfidence3f orientation; 

    bool validPosition;    
    bool validOrientation; 

    dwTime_t timestamp; 

} dwGlobalEgomotionUncertainty;

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_