radar_gtrack_common.h

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#ifndef RADAR_GTRACK_COMMON_H
#define RADAR_GTRACK_COMMON_H

#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>

#include <perception/algos/radar_gtrack_2d.h>

#ifdef __cplusplus
extern "C" {
#endif

#define GTRACK_NUM_POINTS_MAX            (1000U)

#define GTRACK_NUM_TRACKS_MAX            (250U)

#define GTRACK_ID_POINT_TOO_WEAK            (253U)

#define GTRACK_ID_POINT_BEHIND_THE_WALL     (254U)

#define GTRACK_ID_POINT_NOT_ASSOCIATED      (255U)

#define GTRACK_BENCHMARK_SETUP              (0U)

#define GTRACK_BENCHMARK_PREDICT            (1U)

#define GTRACK_BENCHMARK_ASSOCIATE          (2U)

#define GTRACK_BENCHMARK_ALLOCATE           (3U)

#define GTRACK_BENCHMARK_UPDATE             (4U)

#define GTRACK_BENCHMARK_REPORT             (5U)

#define GTRACK_BENCHMARK_SIZE               (GTRACK_BENCHMARK_REPORT)

#define GTRACK_MAX_SAVE_FILE_NAME_LENGTH     (200U)

#define GTRACK_MAX_BOUNDARY_BOXES           (2U)

#define GTRACK_MAX_STATIC_BOXES             (2U)

#define GTRACK_STATE_VECTOR_SIZE sizeof(GTRACK_state_vector_pos_vel_acc)/sizeof(float)

#define GTRACK_MEASUREMENT_VECTOR_SIZE sizeof(GTRACK_measurement_vector)/sizeof(float)

typedef enum
{
    GTRACK_VERBOSE_NONE = 0,

    GTRACK_VERBOSE_ERROR,

    GTRACK_VERBOSE_WARNING,

    GTRACK_VERBOSE_DEBUG,

    GTRACK_VERBOSE_MATRIX,

    GTRACK_VERBOSE_MAXIMUM

} GTRACK_VERBOSE_TYPE;


typedef struct {
    float x1;

    float x2;

    float y1;

    float y2;

    float z1;

    float z2;

} GTRACK_boundaryBox;

typedef struct {
    float width;

    float depth;

    float height;

    float vel;
} GTRACK_gateLimits;

typedef struct {
    float widthStd;

    float depthStd;

    float heightStd;

    float dopplerStd;

} GTRACK_varParams;

typedef struct {
    uint8_t             numBoundaryBoxes;

    GTRACK_boundaryBox  boundaryBox[GTRACK_MAX_BOUNDARY_BOXES];

    uint8_t             numStaticBoxes;

    GTRACK_boundaryBox  staticBox[GTRACK_MAX_STATIC_BOXES];

} GTRACK_sceneryParams;


typedef struct {
    float        volume;

    union {
        GTRACK_gateLimits    limits;
        float limitsArray[4];
    };

} GTRACK_gatingParams;

typedef struct {
    uint16_t det2actThre;

    uint16_t det2freeThre;

    uint16_t active2freeThre;

    uint16_t static2freeThre;

    uint16_t exit2freeThre;

} GTRACK_stateParams;


typedef struct {
    float snrThre;

    float snrThreObscured;

    float velocityThre;

    uint16_t pointsThre;

    float    maxDistanceThre;

    float    maxVelThre;

} GTRACK_allocationParams;

typedef struct {
    float alpha;

    float confidence;

} GTRACK_unrollingParams;

typedef struct
{
    union {
        GTRACK_measurement_vector vector;

        float array[GTRACK_MEASUREMENT_VECTOR_SIZE];
    };

    float snr;

} GTRACK_measurementPoint;

typedef struct
{
    uint8_t uid;

    uint32_t tid;

    float S[GTRACK_STATE_VECTOR_SIZE];

    float EC[GTRACK_MEASUREMENT_VECTOR_SIZE*GTRACK_MEASUREMENT_VECTOR_SIZE];

    float G;

    float dim[GTRACK_MEASUREMENT_VECTOR_SIZE];

} GTRACK_targetDesc;

#ifdef __cplusplus
}
#endif

#endif /* GTRACK_H */