Missing impl files for matrix header files

Autonomous Vehicles DRIVE AGX Orin DRIVE AGX Orin General
1

Software Version
DRIVE OS 6.0.10.0
DRIVE OS 6.0.8.1
DRIVE OS 6.0.6
DRIVE OS 6.0.5
DRIVE OS 6.0.4 (rev. 1)
DRIVE OS 6.0.4 SDK
other

Target Operating System
Linux
QNX
other

Hardware Platform
DRIVE AGX Orin Developer Kit (940-63710-0010-300)
DRIVE AGX Orin Developer Kit (940-63710-0010-200)
DRIVE AGX Orin Developer Kit (940-63710-0010-100)
DRIVE AGX Orin Developer Kit (940-63710-0010-D00)
DRIVE AGX Orin Developer Kit (940-63710-0010-C00)
DRIVE AGX Orin Developer Kit (not sure its number)
other

SDK Manager Version
2.1.0
other

Host Machine Version
native Ubuntu Linux 20.04 Host installed with SDK Manager
native Ubuntu Linux 20.04 Host installed with DRIVE OS Docker Containers
native Ubuntu Linux 18.04 Host installed with DRIVE OS Docker Containers
other

Issue Description
Hi, I’m working on the velodyne lidar integration. However, in my script im getting error of no such file in the library for matrix. when i explored the file structure i saw a lot of files were missing. are these waiting to be implemented or these have to be implemented by us?

#include "LidarDetectionSample.hpp"
#include <dwvisualization/core/RenderEngine.h>
#include <dw/core/base/Types.h>
#include <framework/ChecksExt.hpp>
#include <dwshared/dwfoundation/dw/core/matrix/Matrix.hpp> // Added for matrix operations
#include <sstream>
#include <fstream>
#include <iostream>

Error String
In file included from /usr/local/driveworks/samples/src/sensors/lidar/lidar_custom/LidarDetectionSample.cpp:5:
/usr/local/driveworks/include/dwshared/dwfoundation/dw/core/matrix/Matrix.hpp:35:10: fatal error: impl/SymmetricMatrix.hpp: No such file or directory
35 | include “impl/SymmetricMatrix.hpp”
| ^~~~~~~~~~~~~~~~~~~~~~~~~~
compilation terminated.

2

Dear @atharv.sharma ,
May I know what matrix operations needed in your plugin implementation?

3

Dear @atharv.sharma,
It is packaging issue. Matrix.hpp(c++ headers files) should not be part of the Devzone release.

6

Our plugin only requires very basic operations on a 4×4 transformation matrix. Specifically, we perform the following steps:

  1. Identity Initialization:
    We begin with a default identity matrix. This provides a neutral starting point where no transformation is applied.
  2. 2D Rotation (Yaw):
    We compute the cosine and sine of the yaw angle (rotation about the Z-axis) provided by the LiDAR detection. We then update the top–left 2×2 portion of the matrix to apply this rotation.
  3. Translation:
    We set the translation components (typically in the fourth column) of the matrix using the detection’s x, y, and z coordinates to position the object correctly in the scene.

These are the only matrix operations we need: basic element assignments to build a rotation–translation transformation. We do not require any additional operations (such as scaling, inversion, or multiplication).

Regarding the compilation error involving the missing file impl/SymmetricMatrix.hpp, we only use the public API (dwMatrix4f with its array[16] member as documented) and do not rely on any internal implementation headers.

I hope this clarifies our matrix operations requirements.

7

Hi @SivaRamaKrishnaNV there has been missing files from before hand as well if you could remember, allow us to understand, how do you want us to proceed with this trasnformations.

8

Hi @SivaRamaKrishnaNV , any updates about it?

9

Dear @atharv.sharma ,
The dwshared C++ APIs are not officially supported in DW and it is a packaging issue.
I notice /usr/local/driveworks/samples/src/framework/MathUtils.hpp has methods to handle rotation. Could you check?

10

sure I’ll have a look and get back about it