This is the internal header file for GTRACK Algorithm. More...

#include <stdint.h>
#include "gtrack_listlib.h"

Data Structures
union	MATRIX3x3
	3x3 Matrix Definition More...

union	MATRIX4x4
	4x4 Matrix Definition More...

union	MATRIX6x6
	6x6 Matrix Definition More...

struct	TrackingParams
	GTRACK Unit Parameters structure. More...

struct	GtrackUnitInstance
	GTRACK Unit instance structure. More...

struct	GtrackModuleInstance
	GTRACK Module instance structure. More...

Macros
#define	VERBOSE_ERROR_INFO 0x00000001
	Macros that define values to use for TrackingParams::verbose when specifying the required verboseness. More...

#define	VERBOSE_WARNING_INFO 0x00000002

#define	VERBOSE_DEBUG_INFO 0x00000004

#define	VERBOSE_MATRIX_INFO 0x00000008

#define	VERBOSE_UNROLL_INFO 0x00000010

#define	VERBOSE_STATE_INFO 0x00000020

#define	VERBOSE_ASSOSIATION_INFO 0x00000040

#define	VERBOSE_GATEXY_INFO 0x00000080

#define	VERBOSE_GATERA_INFO 0x00000100

#define	VERBOSE_GATEG1_INFO 0x00000200

Enumerations

Functions
void	gtrack_modulePredict (GtrackModuleInstance *inst)

void	gtrack_moduleAssociate (GtrackModuleInstance inst, GTRACK_measurementPoint point, uint16_t num)

void	gtrack_moduleAllocate (GtrackModuleInstance inst, GTRACK_measurementPoint point, uint16_t num)

void	gtrack_moduleUpdate (GtrackModuleInstance inst, GTRACK_measurementPoint point, GTRACK_measurement_vector *var, uint16_t num)

void	gtrack_moduleReport (GtrackModuleInstance inst, GTRACK_targetDesc t, uint16_t *tNum)

void *	gtrack_unitCreate (TrackingParams params, int32_t errCode)

void	gtrack_unitDelete (void *handle)

void	gtrack_unitStart (void handle, uint64_t timeStamp, uint32_t tid, GTRACK_measurement_vector u)

void	gtrack_unitStop (void *handle)

void	gtrack_unitPredict (void *handle)

TrackState	gtrack_unitUpdate (void handle, GTRACK_measurementPoint point, GTRACK_measurement_vector var, uint8_t pInd, uint16_t num)

void	gtrack_unitScore (void handle, GTRACK_measurementPoint point, float bestScore, uint8_t bestInd, uint16_t num)

void	gtrack_unitEvent (void *handle, uint16_t num)

void	gtrack_unitReport (void handle, GTRACK_targetDesc target)

void	gtrack_unitGetH (void handle, float H)

float	gtrack_unrollRadialVelocity (float rvMax, float rvExp, float rvIn)

void	gtrack_spherical2cartesian (GTRACK_STATE_VECTOR_TYPE format, float sph, float cart)

void	gtrack_cartesian2spherical (GTRACK_STATE_VECTOR_TYPE format, float cart, float sph)

void	gtrack_computeJacobian (GTRACK_STATE_VECTOR_TYPE format, float cart, float jac)

void	gtrack_sph2cart (GTRACK_measurement_vector v, GTRACK_cartesian_position c)

float	gtrack_calcDistance (GTRACK_measurement_vector v1, GTRACK_measurement_vector v2)

void	gtrack_calcDim (float mSpread, float R, float tDim)

uint8_t	gtrack_isPointInsideBox (GTRACK_cartesian_position c, GTRACK_boundaryBox box)

void	gtrack_sincosd (float theta, float pSinVal, float pCosVal)

void	gtrack_matrixInit (uint16_t rows, uint16_t cols, float value, float *A)

void	gtrack_matrixEye (uint16_t size, float *A)

void	gtrack_matrixSetDiag (uint16_t size, float v, float A)

void	gtrack_matrixGetDiag (uint16_t size, float A, float v)

void	gtrack_vectorInit (uint16_t size, float value, float *A)

void	gtrack_vectorAdd (uint16_t size, float A, float B, float *C)

void	gtrack_vectorSub (uint16_t size, float A, float B, float *C)

void	gtrack_vectorScalarMul (uint16_t size, float A, float c, float B)

void	gtrack_vectorScalarMulAcc (uint16_t size, float A, float c, float B)

void	gtrack_vectorFilter (uint16_t size, float A, float alpha, float B)

void	gtrack_matrixCovAcc (uint16_t size, float A, float v, float *mean)

void	gtrack_matrixCovNormalize (uint16_t size, float *A, uint16_t num)

void	gtrack_matrixCovFilter (uint16_t size, float A, float B, float alpha)

void	gtrack_matrixMultiply (uint16_t m1, uint16_t m2, uint16_t m3, float A, float B, float *C)

void	gtrack_matrixComputePJT (float P, float J, float *PJ)

void	gtrack_matrixTransposeMultiply (uint16_t rows, uint16_t m, uint16_t cols, float A, float B, float *C)

void	gtrack_matrixScalarMultiply (uint16_t m1, uint16_t m2, float A, float c, float B)

void	gtrack_matrixAdd (uint16_t m1, uint16_t m2, float A, float B, float *C)

void	gtrack_matrixSub (uint16_t m1, uint16_t m2, float A, float B, float *C)

void	gtrack_matrixInv (const float A, float det, float *Ainv)

void	gtrack_matrixMakeSymmetrical (uint16_t m, float A, float B)

void	gtrack_matrixCholesky (uint16_t dim, const float A, float G)

void	gtrack_matrixPrint (uint16_t m1, uint16_t m2, float *A)

void	gtrack_matrixPrint2 (uint16_t rows, uint16_t cols, float A, float B)

Detailed Description

This is the internal header file for GTRACK Algorithm.

: NOTE: (C) Copyright 2017 Texas Instruments, Inc.

Redistribution and use in source and binary forms, with or without modification, are permitted provided that the following conditions are met:

Redistributions of source code must retain the above copyright notice, this list of conditions and the following disclaimer.

Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the following disclaimer in the documentation and/or other materials provided with the distribution.

Neither the name of Texas Instruments Incorporated nor the names of its contributors may be used to endorse or promote products derived from this software without specific prior written permission.

THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

Macro Definition Documentation

#define VERBOSE_ASSOSIATION_INFO 0x00000040

Report association data

#define VERBOSE_DEBUG_INFO 0x00000004

Report Debuging information

#define VERBOSE_ERROR_INFO 0x00000001

Macros that define values to use for TrackingParams::verbose when specifying the required verboseness.

Report Errors

#define VERBOSE_GATEG1_INFO 0x00000200

Report unitary gating

#define VERBOSE_GATERA_INFO 0x00000100

Report gating in range/angle space

#define VERBOSE_GATEXY_INFO 0x00000080

Report gating in XY space

#define VERBOSE_MATRIX_INFO 0x00000008

Report Matrix math computations

#define VERBOSE_STATE_INFO 0x00000020

Report state transitions

#define VERBOSE_UNROLL_INFO 0x00000010

Report velocity unrolling data

#define VERBOSE_WARNING_INFO 0x00000002

Report Warnings

Enumeration Type Documentation

enum TrackState

GTRACK Unit State.

The structure describes GTRACK unit states

Enumerator
TRACK_STATE_FREE	Free (not allocated)
TRACK_STATE_INIT	INIT.
TRACK_STATE_DETECTION	DETECTION State.
TRACK_STATE_ACTIVE	ACTIVE State.

enum VelocityHandlingState

GTRACK Unit Velocity Handling State.

The structure describes GTRACK velocity handling states

Enumerator
VELOCITY_INIT	INIT.
VELOCITY_RATE_FILTER	Range Rate filtering.
VELOCITY_TRACKING	Stabilizing Velocity Estimation.
VELOCITY_LOCKED	Locked.

Data Structures

Macros

Enumerations

Functions

Detailed Description

Macro Definition Documentation

Enumeration Type Documentation