etsi_its_messages v3.3.0
 
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Macros | Functions
cam_getters.h File Reference

Getter functions for the ETSI ITS CAM (EN) More...

#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>

Go to the source code of this file.

Functions

uint32_t etsi_its_cam_msgs::access::getStationID (const ItsPduHeader &header)
 Get the StationID of ItsPduHeader.
 
double etsi_its_cam_msgs::access::getLatitude (const Latitude &latitude)
 Get the Latitude value.
 
double etsi_its_cam_msgs::access::getLongitude (const Longitude &longitude)
 Get the Longitude value.
 
double etsi_its_cam_msgs::access::getAltitude (const Altitude &altitude)
 Get the Altitude value.
 
double etsi_its_cam_msgs::access::getSpeed (const Speed &speed)
 Get the vehicle speed.
 
double etsi_its_cam_msgs::access::getSpeedConfidence (const Speed &speed)
 Get the Speed Confidence.
 
template<typename AccelerationMagnitude>
double etsi_its_cam_msgs::access::getAccelerationMagnitude (const AccelerationMagnitude &acceleration_magnitude)
 Get the AccelerationMagnitude value.
 
template<typename AccelerationMagnitude>
double etsi_its_cam_msgs::access::getAccelerationMagnitudeConfidence (const AccelerationMagnitude &acceleration_magnitude)
 Get the AccelerationMagnitude Confidence.
 
template<typename T>
gm::PointStamped etsi_its_cam_msgs::access::getUTMPosition (const T &reference_position, int &zone, bool &northp)
 Get the UTM Position defined by the given ReferencePosition.
 
template<typename Heading>
double etsi_its_cam_msgs::access::getHeadingCDD (const Heading &heading)
 Get the Heading value.
 
template<typename Heading>
double etsi_its_cam_msgs::access::getHeadingConfidenceCDD (const Heading &heading)
 Get the Heading value.
 
template<typename YawRate>
double etsi_its_cam_msgs::access::getYawRateCDD (const YawRate &yaw_rate)
 Get the Yaw Rate value.
 
template<typename YawRate, typename YawRateConfidence = decltype(YawRate::yaw_rate_confidence)>
double etsi_its_cam_msgs::access::getYawRateConfidenceCDD (const YawRate &yaw_rate)
 Get the Yaw Rate Confidence.
 
template<typename SemiAxisLength>
double etsi_its_cam_msgs::access::getSemiAxis (const SemiAxisLength &semi_axis_length)
 Get the Semi Axis object.
 
template<typename PosConfidenceEllipse>
std::tuple< double, double, double > etsi_its_cam_msgs::access::getPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse)
 Extract major axis length, minor axis length and orientation from the given position confidence ellipse.
 
std::array< double, 4 > etsi_its_cam_msgs::access::CovMatrixFromConfidenceEllipse (double semi_major, double semi_minor, double major_orientation, const double object_heading)
 Convert the confidence ellipse to a covariance matrix.
 
std::array< double, 4 > etsi_its_cam_msgs::access::WGSCovMatrixFromConfidenceEllipse (double semi_major, double semi_minor, double major_orientation)
 Convert the confidence ellipse to a covariance matrix.
 
template<typename PosConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_msgs::access::getPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse, const double object_heading)
 Get the covariance matrix of the position confidence ellipse.
 
template<typename PosConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_msgs::access::getWGSPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse)
 Get the covariance matrix of the position confidence ellipse.
 
double etsi_its_cam_msgs::access::getLongitudinalAcceleration (const LongitudinalAcceleration &longitudinal_acceleration)
 Get the longitudinal acceleration.
 
double etsi_its_cam_msgs::access::getLongitudinalAccelerationConfidence (const LongitudinalAcceleration &longitudinal_acceleration)
 Get the Longitudinal Acceleration Confidence.
 
double etsi_its_cam_msgs::access::getLateralAcceleration (const LateralAcceleration &lateral_acceleration)
 Get the lateral acceleration.
 
double etsi_its_cam_msgs::access::getLateralAccelerationConfidence (const LateralAcceleration &lateral_acceleration)
 Get the Lateral Acceleration Confidence.
 
std::vector< bool > etsi_its_cam_msgs::access::getBitString (const std::vector< uint8_t > &buffer, const int bits_unused)
 Get a Bit String in form of bool vector.
 
uint32_t etsi_its_cam_msgs::access::getStationID (const CAM &cam)
 Get the Station ID object.
 
GenerationDeltaTime etsi_its_cam_msgs::access::getGenerationDeltaTime (const CAM &cam)
 Get the GenerationDeltaTime.
 
uint16_t etsi_its_cam_msgs::access::getGenerationDeltaTimeValue (const CAM &cam)
 Get the GenerationDeltaTime-Value.
 
uint8_t etsi_its_cam_msgs::access::getStationType (const CAM &cam)
 Get the stationType object.
 
double etsi_its_cam_msgs::access::getLatitude (const CAM &cam)
 Get the Latitude value of CAM.
 
double etsi_its_cam_msgs::access::getLongitude (const CAM &cam)
 Get the Longitude value of CAM.
 
double etsi_its_cam_msgs::access::getAltitude (const CAM &cam)
 Get the Altitude value of CAM.
 
double etsi_its_cam_msgs::access::getHeading (const CAM &cam)
 Get the Heading value of CAM.
 
double etsi_its_cam_msgs::access::getHeadingConfidence (const CAM &cam)
 Get the Heading confidence of CAM.
 
double etsi_its_cam_msgs::access::getYawRate (const CAM &cam)
 Get the Yaw Rate of CAM.
 
double etsi_its_cam_msgs::access::getYawRateConfidence (const CAM &cam)
 Get the Yaw Rate Confidence of CAM.
 
double etsi_its_cam_msgs::access::getVehicleLength (const VehicleLength &vehicle_length)
 Get the Vehicle Length.
 
double etsi_its_cam_msgs::access::getVehicleLength (const CAM &cam)
 Get the Vehicle Length.
 
double etsi_its_cam_msgs::access::getVehicleWidth (const VehicleWidth &vehicle_width)
 Get the Vehicle Width.
 
double etsi_its_cam_msgs::access::getVehicleWidth (const CAM &cam)
 Get the Vehicle Width.
 
double etsi_its_cam_msgs::access::getSpeed (const CAM &cam)
 Get the vehicle speed.
 
double etsi_its_cam_msgs::access::getSpeedConfidence (const CAM &cam)
 Get the Speed Confidence.
 
double etsi_its_cam_msgs::access::getLongitudinalAcceleration (const CAM &cam)
 Get the longitudinal acceleration.
 
double etsi_its_cam_msgs::access::getLongitudinalAccelerationConfidence (const CAM &cam)
 Get the Longitudinal Acceleration Confidence.
 
double etsi_its_cam_msgs::access::getLateralAcceleration (const CAM &cam)
 Get the lateral acceleration.
 
double etsi_its_cam_msgs::access::getLateralAccelerationConfidence (const CAM &cam)
 Get the Lateral Acceleration Confidence.
 
gm::PointStamped etsi_its_cam_msgs::access::getUTMPosition (const CAM &cam, int &zone, bool &northp)
 Get the UTM Position defined within the BasicContainer of the CAM.
 
gm::PointStamped etsi_its_cam_msgs::access::getUTMPosition (const CAM &cam)
 Get the UTM Position defined within the BasicContainer of the CAM.
 
std::vector< bool > etsi_its_cam_msgs::access::getExteriorLights (const ExteriorLights &exterior_lights)
 Get the Exterior Lights in form of bool vector.
 
std::vector< bool > etsi_its_cam_msgs::access::getExteriorLights (const CAM &cam)
 Get Exterior Lights as bool vector.
 
std::vector< bool > etsi_its_cam_msgs::access::getAccelerationControl (const AccelerationControl &acceleration_control)
 Get Acceleration Control in form of bool vector.
 
std::vector< bool > etsi_its_cam_msgs::access::getDrivingLaneStatus (const DrivingLaneStatus &driving_lane_status)
 Get the Driving Lane Status in form of bool vector.
 
std::vector< bool > etsi_its_cam_msgs::access::getSpecialTransportType (const SpecialTransportType &special_transport_type)
 Get the Special Transport Type in form of bool vector.
 
std::vector< bool > etsi_its_cam_msgs::access::getLightBarSirenInUse (const LightBarSirenInUse &light_bar_siren_in_use)
 Get the Lightbar Siren In Use in form of bool vector.
 
std::vector< bool > etsi_its_cam_msgs::access::getEmergencyPriority (const EmergencyPriority &emergency_priority)
 Get the Vehicle Role in form of bool vector.
 
const std::array< double, 4 > etsi_its_cam_msgs::access::getRefPosConfidence (const CAM &cam)
 Get the confidence ellipse of the reference position as Covariance matrix.
 
const std::array< double, 4 > etsi_its_cam_msgs::access::getWGSRefPosConfidence (const CAM &cam)
 Get the confidence ellipse of the reference position as Covariance matrix.
 

Detailed Description

Getter functions for the ETSI ITS CAM (EN)

Definition in file cam_getters.h.

Function Documentation

◆ CovMatrixFromConfidenceEllipse()

std::array< double, 4 > etsi_its_cam_msgs::access::CovMatrixFromConfidenceEllipse ( double semi_major,
double semi_minor,
double major_orientation,
const double object_heading )
inline

Convert the confidence ellipse to a covariance matrix.

Note that the major_orientation is given in degrees, while the object_heading is given in radians!

Parameters
semi_majorSemi major axis length in meters
semi_minorSemi minor axis length in meters
major_orientationOrientation of the major axis in degrees, relative to WGS84
object_headingobject heading in radians, relative to WGS84
Returns
std::array<double, 4> The covariance matrix in vehicle coordinates (x = longitudinal, y = lateral)

Definition at line 244 of file cam_getters.h.

◆ getAccelerationControl()

std::vector< bool > etsi_its_cam_msgs::access::getAccelerationControl ( const AccelerationControl & acceleration_control)
inline

Get Acceleration Control in form of bool vector.

Parameters
acceleration_control
Returns
std::vector<bool>

Definition at line 358 of file cam_getters.h.

391 {
392#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
393
400inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
401 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
402}
403
410inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
411 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
412}
413
420inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
421 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
422}
423
430inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
431 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
432}
433
434#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
435
445inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
446 double object_heading = getHeading(cam) * M_PI / 180.0;
447 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
448}
449
459inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
460 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
461}
462
463}
etsi_its_cam_msgs::access::getRefPosConfidence
const std::array< double, 4 > getRefPosConfidence(const CAM &cam)
Get the confidence ellipse of the reference position as Covariance matrix.
Definition cam_getters.h:413
etsi_its_cam_msgs::access::getWGSPosConfidenceEllipse
std::array< double, 4 > getWGSPosConfidenceEllipse(const PosConfidenceEllipse &position_confidence_ellipse)
Get the covariance matrix of the position confidence ellipse.
Definition cam_getters.h:299
etsi_its_cam_msgs::access::getWGSRefPosConfidence
const std::array< double, 4 > getWGSRefPosConfidence(const CAM &cam)
Get the confidence ellipse of the reference position as Covariance matrix.
Definition cam_getters.h:427
etsi_its_cam_msgs::access::getLateralAccelerationConfidence
double getLateralAccelerationConfidence(const LateralAcceleration &lateral_acceleration)
Get the Lateral Acceleration Confidence.
Definition cam_getters.h:344
etsi_its_cam_msgs::access::getPosConfidenceEllipse
std::tuple< double, double, double > getPosConfidenceEllipse(const PosConfidenceEllipse &position_confidence_ellipse)
Extract major axis length, minor axis length and orientation from the given position confidence ellip...
Definition cam_getters.h:225
etsi_its_cam_msgs::access::getLongitudinalAcceleration
double getLongitudinalAcceleration(const LongitudinalAcceleration &longitudinal_acceleration)
Get the longitudinal acceleration.
Definition cam_getters.h:314
etsi_its_cam_msgs::access::getHeading
double getHeading(const CAM &cam)
Get the Heading value of CAM.
Definition cam_getters.h:142
cam_getters_common.h
Common getter functions for the ETSI ITS CAM (EN and TS)
getLongitudinalAccelerationConfidence
double getLongitudinalAccelerationConfidence(const CAM &cam)
Get the Longitudinal Acceleration Confidence.
Definition cam_getters_common.h:220
getLateralAcceleration
double getLateralAcceleration(const CAM &cam)
Get the lateral acceleration.
Definition cam_getters_common.h:231
cdd_v1-3-1_getters.h
Getter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1.

◆ getAccelerationMagnitude()

template<typename AccelerationMagnitude>
double etsi_its_cam_msgs::access::getAccelerationMagnitude ( const AccelerationMagnitude & acceleration_magnitude)
inline

Get the AccelerationMagnitude value.

Parameters
acceleration_magnitudeto get the AccelerationMagnitude from
Returns
double acceleration magnitude in m/s^2 as decimal number

Definition at line 103 of file cam_getters.h.

◆ getAccelerationMagnitudeConfidence()

template<typename AccelerationMagnitude>
double etsi_its_cam_msgs::access::getAccelerationMagnitudeConfidence ( const AccelerationMagnitude & acceleration_magnitude)
inline

Get the AccelerationMagnitude Confidence.

Parameters
acceleration_magnitudeto get the AccelerationMagnitudeConfidence from
Returns
double acceleration magnitude standard deviation in m/s^2 as decimal number

Definition at line 114 of file cam_getters.h.

147 {
148#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
149
156inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
157 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
158}
159
166inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
167 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
168}
169
176inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
177 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
178}
179
186inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
187 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
188}
189
190#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
191
201inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
202 double object_heading = getHeading(cam) * M_PI / 180.0;
203 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
204}
205
215inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
216 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
217}
218
219}

◆ getAltitude() [1/2]

double etsi_its_cam_msgs::access::getAltitude ( const Altitude & altitude)
inline

Get the Altitude value.

Parameters
altitudeto get the Altitude value from
Returns
Altitude value (above the reference ellipsoid surface) in meter as decimal number (0 if unavailable)

Definition at line 71 of file cam_getters.h.

73 {
74 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
75}
76

◆ getAltitude() [2/2]

double etsi_its_cam_msgs::access::getAltitude ( const CAM & cam)
inline

Get the Altitude value of CAM.

Parameters
camCAM to get the Altitude value from
Returns
Altitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 130 of file cam_getters.h.

163 {
164#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
165
172inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
173 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
174}
175
182inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
183 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
184}
185
192inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
193 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
194}
195
202inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
203 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
204}
205
206#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
207
217inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
218 double object_heading = getHeading(cam) * M_PI / 180.0;
219 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
220}
221
231inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
232 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
233}
234
235}

◆ getBitString()

std::vector< bool > etsi_its_cam_msgs::access::getBitString ( const std::vector< uint8_t > & buffer,
const int bits_unused )
inline

Get a Bit String in form of bool vector.

Parameters
bufferas uint8_t vector
bits_unusednumber of bits to ignore at the end of the bit string
Returns
std::vector<bool>

Definition at line 43 of file cam_getters.h.

43 {
44 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
45}
46
53inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
54 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
55}
56
63inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
64 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
65}
66

◆ getDrivingLaneStatus()

std::vector< bool > etsi_its_cam_msgs::access::getDrivingLaneStatus ( const DrivingLaneStatus & driving_lane_status)
inline

Get the Driving Lane Status in form of bool vector.

Parameters
driving_lane_status
Returns
std::vector<bool>

Definition at line 368 of file cam_getters.h.

410inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
411 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
412}
413
420inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
421 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
422}
423
430inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
431 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
432}
433
440inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
441 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
442}
443
444#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
445
455inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
456 double object_heading = getHeading(cam) * M_PI / 180.0;
457 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
458}
459
469inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
470 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
471}
472
473}

◆ getEmergencyPriority()

std::vector< bool > etsi_its_cam_msgs::access::getEmergencyPriority ( const EmergencyPriority & emergency_priority)
inline

Get the Vehicle Role in form of bool vector.

Parameters
vehicle_role
Returns
std::vector<bool>

Definition at line 398 of file cam_getters.h.

431 {
432#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
433
440inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
441 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
442}
443
450inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
451 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
452}
453
460inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
461 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
462}
463
470inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
471 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
472}
473
474#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
475
485inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
486 double object_heading = getHeading(cam) * M_PI / 180.0;
487 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
488}
489
499inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
500 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
501}
502
503}

◆ getExteriorLights() [1/2]

std::vector< bool > etsi_its_cam_msgs::access::getExteriorLights ( const CAM & cam)
inline

Get Exterior Lights as bool vector.

Parameters
camCAM to get the ExteriorLights values from
Returns
std::vector<bool>

Definition at line 338 of file cam_getters.h.

371 {
372#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
373
380inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
381 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
382}
383
390inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
391 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
392}
393
400inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
401 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
402}
403
410inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
411 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
412}
413
414#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
415
425inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
426 double object_heading = getHeading(cam) * M_PI / 180.0;
427 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
428}
429
439inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
440 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
441}
442
443}

◆ getExteriorLights() [2/2]

std::vector< bool > etsi_its_cam_msgs::access::getExteriorLights ( const ExteriorLights & exterior_lights)
inline

Get the Exterior Lights in form of bool vector.

Parameters
exterior_lights
Returns
std::vector<bool>

Definition at line 328 of file cam_getters.h.

361 {
362#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
363
370inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
371 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
372}
373
380inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
381 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
382}
383
390inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
391 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
392}
393
400inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
401 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
402}
403
404#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
405
415inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
416 double object_heading = getHeading(cam) * M_PI / 180.0;
417 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
418}
419
429inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
430 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
431}
432
433}

◆ getGenerationDeltaTime()

GenerationDeltaTime etsi_its_cam_msgs::access::getGenerationDeltaTime ( const CAM & cam)
inline

Get the GenerationDeltaTime.

Parameters
camCAM to get the GenerationDeltaTime from
Returns
GenerationDeltaTime the GenerationDeltaTime

Definition at line 86 of file cam_getters.h.

◆ getGenerationDeltaTimeValue()

uint16_t etsi_its_cam_msgs::access::getGenerationDeltaTimeValue ( const CAM & cam)
inline

Get the GenerationDeltaTime-Value.

Parameters
camCAM to get the GenerationDeltaTime-Value from
Returns
uint16_t the GenerationDeltaTime-Value

Definition at line 94 of file cam_getters.h.

◆ getHeading()

double etsi_its_cam_msgs::access::getHeading ( const CAM & cam)
inline

Get the Heading value of CAM.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters
camCAM to get the Heading value from
Returns
Heading value in degree as decimal number

Definition at line 142 of file cam_getters.h.

175 {
176#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
177
184inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
185 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
186}
187
194inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
195 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
196}
197
204inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
205 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
206}
207
214inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
215 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
216}
217
218#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
219
229inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
230 double object_heading = getHeading(cam) * M_PI / 180.0;
231 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
232}
233
243inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
244 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
245}
246
247}

◆ getHeadingCDD()

template<typename Heading>
double etsi_its_cam_msgs::access::getHeadingCDD ( const Heading & heading)
inline

Get the Heading value.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters
headingto get the Heading value from
Returns
Heading value in degree as decimal number

Definition at line 159 of file cam_getters.h.

192{
193#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
194
201inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
202 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
203}
204
211inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
212 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
213}
214
221inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
222 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
223}
224
231inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
232 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
233}
234
235#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
236
246inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
247 double object_heading = getHeading(cam) * M_PI / 180.0;
248 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
249}
250
260inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
261 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
262}
263
264}

◆ getHeadingConfidence()

double etsi_its_cam_msgs::access::getHeadingConfidence ( const CAM & cam)
inline

Get the Heading confidence of CAM.

Parameters
camCAM to get the Heading confidence from
Returns
Heading standard deviation in degree as decimal number

Definition at line 153 of file cam_getters.h.

186 {
187#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
188
195inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
196 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
197}
198
205inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
206 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
207}
208
215inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
216 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
217}
218
225inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
226 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
227}
228
229#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
230
240inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
241 double object_heading = getHeading(cam) * M_PI / 180.0;
242 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
243}
244
254inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
255 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
256}
257
258}

◆ getHeadingConfidenceCDD()

template<typename Heading>
double etsi_its_cam_msgs::access::getHeadingConfidenceCDD ( const Heading & heading)
inline

Get the Heading value.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters
headingto get the Heading standard deviation from
Returns
Heading standard deviation in degree as decimal number

Definition at line 170 of file cam_getters.h.

203{
204#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
205
212inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
213 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
214}
215
222inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
223 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
224}
225
232inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
233 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
234}
235
242inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
243 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
244}
245
246#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
247
257inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
258 double object_heading = getHeading(cam) * M_PI / 180.0;
259 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
260}
261
271inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
272 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
273}
274
275}

◆ getLateralAcceleration() [1/2]

double etsi_its_cam_msgs::access::getLateralAcceleration ( const CAM & cam)
inline

Get the lateral acceleration.

Parameters
camCAM to get the lateral acceleration from
Returns
lateral acceleration in m/s^2 as decimal number (left is positive)

Definition at line 266 of file cam_getters.h.

299 {
300#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
301
308inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
309 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
310}
311
318inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
319 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
320}
321
328inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
329 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
330}
331
338inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
339 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
340}
341
342#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
343
353inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
354 double object_heading = getHeading(cam) * M_PI / 180.0;
355 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
356}
357
367inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
368 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
369}
370
371}

◆ getLateralAcceleration() [2/2]

double etsi_its_cam_msgs::access::getLateralAcceleration ( const LateralAcceleration & lateral_acceleration)
inline

Get the lateral acceleration.

Parameters
lateralAccelerationto get the lateral acceleration from
Returns
lateral acceleration in m/s^2 as decimal number (left is positive)

Definition at line 334 of file cam_getters.h.

367 {
368#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
369
376inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
377 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
378}
379
386inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
387 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
388}
389
396inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
397 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
398}
399
406inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
407 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
408}
409
410#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
411
421inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
422 double object_heading = getHeading(cam) * M_PI / 180.0;
423 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
424}
425
435inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
436 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
437}
438
439}

◆ getLateralAccelerationConfidence() [1/2]

double etsi_its_cam_msgs::access::getLateralAccelerationConfidence ( const CAM & cam)
inline

Get the Lateral Acceleration Confidence.

Parameters
camCAM to get the LateralAccelerationConfidence from
Returns
double standard deviation of the lateral acceleration in m/s^2 as decimal number

Definition at line 282 of file cam_getters.h.

315 {
316#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
317
324inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
325 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
326}
327
334inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
335 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
336}
337
344inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
345 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
346}
347
354inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
355 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
356}
357
358#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
359
369inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
370 double object_heading = getHeading(cam) * M_PI / 180.0;
371 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
372}
373
383inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
384 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
385}
386
387}

◆ getLateralAccelerationConfidence() [2/2]

double etsi_its_cam_msgs::access::getLateralAccelerationConfidence ( const LateralAcceleration & lateral_acceleration)
inline

Get the Lateral Acceleration Confidence.

Parameters
longitudinal_accelerationto get the LateralAccelerationConfidence from
Returns
double standard deviation of the lateral acceleration in m/s^2 as decimal number

Definition at line 344 of file cam_getters.h.

377 {
378#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
379
386inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
387 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
388}
389
396inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
397 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
398}
399
406inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
407 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
408}
409
416inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
417 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
418}
419
420#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
421
431inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
432 double object_heading = getHeading(cam) * M_PI / 180.0;
433 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
434}
435
445inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
446 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
447}
448
449}

◆ getLatitude() [1/2]

double etsi_its_cam_msgs::access::getLatitude ( const CAM & cam)
inline

Get the Latitude value of CAM.

Parameters
camCAM to get the Latitude value from
Returns
Latitude value in degree as decimal number

Definition at line 110 of file cam_getters.h.

143 {
144#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
145
152inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
153 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
154}
155
162inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
163 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
164}
165
172inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
173 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
174}
175
182inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
183 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
184}
185
186#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
187
197inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
198 double object_heading = getHeading(cam) * M_PI / 180.0;
199 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
200}
201
211inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
212 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
213}
214
215}

◆ getLatitude() [2/2]

double etsi_its_cam_msgs::access::getLatitude ( const Latitude & latitude)
inline

Get the Latitude value.

Parameters
latitudeto get the Latitude value from
Returns
Latitude value in degree as decimal number

Definition at line 55 of file cam_getters.h.

◆ getLightBarSirenInUse()

std::vector< bool > etsi_its_cam_msgs::access::getLightBarSirenInUse ( const LightBarSirenInUse & light_bar_siren_in_use)
inline

Get the Lightbar Siren In Use in form of bool vector.

Parameters
light_bar_siren_in_use
Returns
std::vector<bool>

Definition at line 388 of file cam_getters.h.

421 {
422#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
423
430inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
431 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
432}
433
440inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
441 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
442}
443
450inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
451 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
452}
453
460inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
461 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
462}
463
464#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
465
475inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
476 double object_heading = getHeading(cam) * M_PI / 180.0;
477 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
478}
479
489inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
490 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
491}
492
493}

◆ getLongitude() [1/2]

double etsi_its_cam_msgs::access::getLongitude ( const CAM & cam)
inline

Get the Longitude value of CAM.

Parameters
camCAM to get the Longitude value from
Returns
Longitude value in degree as decimal number

Definition at line 120 of file cam_getters.h.

153 {
154#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
155
162inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
163 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
164}
165
172inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
173 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
174}
175
182inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
183 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
184}
185
192inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
193 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
194}
195
196#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
197
207inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
208 double object_heading = getHeading(cam) * M_PI / 180.0;
209 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
210}
211
221inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
222 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
223}
224
225}

◆ getLongitude() [2/2]

double etsi_its_cam_msgs::access::getLongitude ( const Longitude & longitude)
inline

Get the Longitude value.

Parameters
longitudeto get the Longitude value from
Returns
Longitude value in degree as decimal number

Definition at line 63 of file cam_getters.h.

63{

◆ getLongitudinalAcceleration() [1/2]

double etsi_its_cam_msgs::access::getLongitudinalAcceleration ( const CAM & cam)
inline

Get the longitudinal acceleration.

Parameters
camCAM to get the longitudinal acceleration from
Returns
longitudinal acceleration in m/s^2 as decimal number (accelerating is positive)

Definition at line 244 of file cam_getters.h.

277 {
278#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
279
286inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
287 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
288}
289
296inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
297 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
298}
299
306inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
307 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
308}
309
316inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
317 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
318}
319
320#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
321
331inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
332 double object_heading = getHeading(cam) * M_PI / 180.0;
333 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
334}
335
345inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
346 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
347}
348
349}

◆ getLongitudinalAcceleration() [2/2]

double etsi_its_cam_msgs::access::getLongitudinalAcceleration ( const LongitudinalAcceleration & longitudinal_acceleration)
inline

Get the longitudinal acceleration.

Parameters
longitudinalAccelerationto get the longitudinal acceleration from
Returns
longitudinal acceleration in m/s^2 as decimal number (accelerating is positive)

Definition at line 314 of file cam_getters.h.

347 {
348#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
349
356inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
357 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
358}
359
366inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
367 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
368}
369
376inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
377 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
378}
379
386inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
387 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
388}
389
390#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
391
401inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
402 double object_heading = getHeading(cam) * M_PI / 180.0;
403 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
404}
405
415inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
416 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
417}
418
419}

◆ getLongitudinalAccelerationConfidence() [1/2]

double etsi_its_cam_msgs::access::getLongitudinalAccelerationConfidence ( const CAM & cam)
inline

Get the Longitudinal Acceleration Confidence.

Parameters
camCAM to get the LongitudinalAccelerationConfidence from
Returns
double standard deviation of the longitudinal acceleration in m/s^2 as decimal number

Definition at line 255 of file cam_getters.h.

288 {
289#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
290
297inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
298 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
299}
300
307inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
308 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
309}
310
317inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
318 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
319}
320
327inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
328 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
329}
330
331#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
332
342inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
343 double object_heading = getHeading(cam) * M_PI / 180.0;
344 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
345}
346
356inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
357 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
358}
359
360}

◆ getLongitudinalAccelerationConfidence() [2/2]

double etsi_its_cam_msgs::access::getLongitudinalAccelerationConfidence ( const LongitudinalAcceleration & longitudinal_acceleration)
inline

Get the Longitudinal Acceleration Confidence.

Parameters
longitudinal_accelerationto get the LongitudinalAccelerationConfidence from
Returns
double standard deviation of the longitudinal acceleration in m/s^2 as decimal number

Definition at line 324 of file cam_getters.h.

357 {
358#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
359
366inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
367 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
368}
369
376inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
377 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
378}
379
386inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
387 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
388}
389
396inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
397 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
398}
399
400#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
401
411inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
412 double object_heading = getHeading(cam) * M_PI / 180.0;
413 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
414}
415
425inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
426 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
427}
428
429}

◆ getPosConfidenceEllipse() [1/2]

template<typename PosConfidenceEllipse>
std::tuple< double, double, double > etsi_its_cam_msgs::access::getPosConfidenceEllipse ( const PosConfidenceEllipse & position_confidence_ellipse)
inline

Extract major axis length, minor axis length and orientation from the given position confidence ellipse.

Parameters
position_confidence_ellipseThe position confidence ellipse to extract the values from
Returns
std::tuple<double, double, double> major axis length in meters, minor axis length in meters, and orientation in degrees

Definition at line 225 of file cam_getters.h.

258 {
259#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
260
267inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
268 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
269}
270
277inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
278 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
279}
280
287inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
288 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
289}
290
297inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
298 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
299}
300
301#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
302
312inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
313 double object_heading = getHeading(cam) * M_PI / 180.0;
314 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
315}
316
326inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
327 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
328}
329
330}

◆ getPosConfidenceEllipse() [2/2]

template<typename PosConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_msgs::access::getPosConfidenceEllipse ( const PosConfidenceEllipse & position_confidence_ellipse,
const double object_heading )
inline

Get the covariance matrix of the position confidence ellipse.

Parameters
position_confidence_ellipseThe position confidence ellipse to get the covariance matrix from
object_headingThe object heading in radians
Returns
std::array<double, 4> The covariance matrix of the position confidence ellipse in vehicle coordinates (x = longitudinal, y = lateral)

Definition at line 286 of file cam_getters.h.

319 {
320#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
321
328inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
329 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
330}
331
338inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
339 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
340}
341
348inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
349 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
350}
351
358inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
359 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
360}
361
362#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
363
373inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
374 double object_heading = getHeading(cam) * M_PI / 180.0;
375 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
376}
377
387inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
388 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
389}
390
391}

◆ getRefPosConfidence()

const std::array< double, 4 > etsi_its_cam_msgs::access::getRefPosConfidence ( const CAM & cam)
inline

Get the confidence ellipse of the reference position as Covariance matrix.

The covariance matrix will have the entries cov_xx, cov_xy, cov_yx, cov_yy where x is the longitudinal axis and y is the lateral axis of the vehicle.

Parameters
camThe CAM message to get the reference position from
Returns
const std::array<double, 4> the covariance matrix, as specified above

Definition at line 413 of file cam_getters.h.

446 {
447#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
448
455inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
456 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
457}
458
465inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
466 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
467}
468
475inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
476 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
477}
478
485inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
486 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
487}
488
489#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
490
500inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
501 double object_heading = getHeading(cam) * M_PI / 180.0;
502 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
503}
504
514inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
515 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
516}
517
518}

◆ getSemiAxis()

template<typename SemiAxisLength>
double etsi_its_cam_msgs::access::getSemiAxis ( const SemiAxisLength & semi_axis_length)
inline

Get the Semi Axis object.

Parameters
semi_axis_lengthThe SemiAxisLength object to get the semi axis from
Returns
double the semi axis length in meters

Definition at line 214 of file cam_getters.h.

247 {
248#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
249
256inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
257 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
258}
259
266inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
267 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
268}
269
276inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
277 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
278}
279
286inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
287 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
288}
289
290#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
291
301inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
302 double object_heading = getHeading(cam) * M_PI / 180.0;
303 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
304}
305
315inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
316 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
317}
318
319}

◆ getSpecialTransportType()

std::vector< bool > etsi_its_cam_msgs::access::getSpecialTransportType ( const SpecialTransportType & special_transport_type)
inline

Get the Special Transport Type in form of bool vector.

Parameters
special_transport_type
Returns
std::vector<bool>

Definition at line 378 of file cam_getters.h.

411 {
412#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
413
420inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
421 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
422}
423
430inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
431 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
432}
433
440inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
441 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
442}
443
450inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
451 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
452}
453
454#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
455
465inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
466 double object_heading = getHeading(cam) * M_PI / 180.0;
467 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
468}
469
479inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
480 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
481}
482
483}

◆ getSpeed() [1/2]

double etsi_its_cam_msgs::access::getSpeed ( const CAM & cam)
inline

Get the vehicle speed.

Parameters
camCAM to get the speed value from
Returns
speed value in m/s as decimal number

Definition at line 223 of file cam_getters.h.

256 {
257#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
258
265inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
266 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
267}
268
275inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
276 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
277}
278
285inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
286 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
287}
288
295inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
296 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
297}
298
299#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
300
310inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
311 double object_heading = getHeading(cam) * M_PI / 180.0;
312 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
313}
314
324inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
325 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
326}
327
328}

◆ getSpeed() [2/2]

double etsi_its_cam_msgs::access::getSpeed ( const Speed & speed)
inline

Get the vehicle speed.

Parameters
speedto get the speed value from
Returns
speed value in m/s as decimal number

Definition at line 84 of file cam_getters.h.

◆ getSpeedConfidence() [1/2]

double etsi_its_cam_msgs::access::getSpeedConfidence ( const CAM & cam)
inline

Get the Speed Confidence.

Parameters
camCAM to get the Speed Confidence from
Returns
double standard deviation of the speed in m/s as decimal number

Definition at line 233 of file cam_getters.h.

266 {
267#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
268
275inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
276 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
277}
278
285inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
286 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
287}
288
295inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
296 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
297}
298
305inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
306 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
307}
308
309#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
310
320inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
321 double object_heading = getHeading(cam) * M_PI / 180.0;
322 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
323}
324
334inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
335 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
336}
337
338}

◆ getSpeedConfidence() [2/2]

double etsi_its_cam_msgs::access::getSpeedConfidence ( const Speed & speed)
inline

Get the Speed Confidence.

Parameters
speedto get the SpeedConfidence from
Returns
double speed standard deviation in m/s as decimal number

Definition at line 92 of file cam_getters.h.

◆ getStationID() [1/2]

uint32_t etsi_its_cam_msgs::access::getStationID ( const CAM & cam)
inline

Get the Station ID object.

Parameters
camCAM to get the StationID value from
Returns
stationID value

Definition at line 78 of file cam_getters.h.

◆ getStationID() [2/2]

uint32_t etsi_its_cam_msgs::access::getStationID ( const ItsPduHeader & header)
inline

Get the StationID of ItsPduHeader.

Parameters
headerItsPduHeader to get the StationID value from
Returns
stationID value

Definition at line 47 of file cam_getters.h.

◆ getStationType()

uint8_t etsi_its_cam_msgs::access::getStationType ( const CAM & cam)
inline

Get the stationType object.

Parameters
camCAM to get the stationType value from
Returns
stationType value

Definition at line 102 of file cam_getters.h.

102{

◆ getUTMPosition() [1/3]

gm::PointStamped etsi_its_cam_msgs::access::getUTMPosition ( const CAM & cam)
inline

Get the UTM Position defined within the BasicContainer of the CAM.

The position is transformed into UTM by using GeographicLib::UTMUPS The altitude value is directly used as z-Coordinate

Parameters
[in]camCAM to get the UTM Position from
Returns
gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 316 of file cam_getters.h.

349 {
350#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
351
358inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
359 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
360}
361
368inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
369 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
370}
371
378inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
379 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
380}
381
388inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
389 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
390}
391
392#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
393
403inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
404 double object_heading = getHeading(cam) * M_PI / 180.0;
405 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
406}
407
417inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
418 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
419}
420
421}

◆ getUTMPosition() [2/3]

gm::PointStamped etsi_its_cam_msgs::access::getUTMPosition ( const CAM & cam,
int & zone,
bool & northp )
inline

Get the UTM Position defined within the BasicContainer of the CAM.

The position is transformed into UTM by using GeographicLib::UTMUPS The altitude value is directly used as z-Coordinate

Parameters
[in]camCAM to get the UTM Position from
[out]zonethe UTM zone (zero means UPS)
[out]northphemisphere (true means north, false means south)
Returns
gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 303 of file cam_getters.h.

336 {
337#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
338
345inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
346 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
347}
348
355inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
356 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
357}
358
365inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
366 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
367}
368
375inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
376 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
377}
378
379#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
380
390inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
391 double object_heading = getHeading(cam) * M_PI / 180.0;
392 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
393}
394
404inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
405 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
406}
407
408}

◆ getUTMPosition() [3/3]

template<typename T>
gm::PointStamped etsi_its_cam_msgs::access::getUTMPosition ( const T & reference_position,
int & zone,
bool & northp )
inline

Get the UTM Position defined by the given ReferencePosition.

The position is transformed into UTM by using GeographicLib::UTMUPS The altitude value is directly used as z-Coordinate

Parameters
[in]reference_positionReferencePosition or ReferencePositionWithConfidence to get the UTM Position from
[out]zonethe UTM zone (zero means UPS)
[out]northphemisphere (true means north, false means south)
Returns
gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 130 of file cam_getters.h.

163 {
164#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
165
172inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
173 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
174}
175
182inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
183 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
184}
185
192inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
193 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
194}
195
202inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
203 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
204}
205
206#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
207
217inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
218 double object_heading = getHeading(cam) * M_PI / 180.0;
219 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
220}
221
231inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
232 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
233}
234
235}

◆ getVehicleLength() [1/2]

double etsi_its_cam_msgs::access::getVehicleLength ( const CAM & cam)
inline

Get the Vehicle Length.

Parameters
camCAM to get the vehicle length value from
Returns
vehicle length value in meter as decimal number

Definition at line 193 of file cam_getters.h.

226 {
227#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
228
235inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
236 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
237}
238
245inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
246 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
247}
248
255inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
256 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
257}
258
265inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
266 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
267}
268
269#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
270
280inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
281 double object_heading = getHeading(cam) * M_PI / 180.0;
282 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
283}
284
294inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
295 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
296}
297
298}

◆ getVehicleLength() [2/2]

double etsi_its_cam_msgs::access::getVehicleLength ( const VehicleLength & vehicle_length)
inline

Get the Vehicle Length.

Parameters
vehicleLengthto get the vehicle length value from
Returns
vehicle length value in meter as decimal number

Definition at line 183 of file cam_getters.h.

216 {
217#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
218
225inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
226 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
227}
228
235inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
236 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
237}
238
245inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
246 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
247}
248
255inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
256 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
257}
258
259#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
260
270inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
271 double object_heading = getHeading(cam) * M_PI / 180.0;
272 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
273}
274
284inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
285 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
286}
287
288}

◆ getVehicleWidth() [1/2]

double etsi_its_cam_msgs::access::getVehicleWidth ( const CAM & cam)
inline

Get the Vehicle Width.

Parameters
camCAM to get the vehicle width value from
Returns
vehicle width value in meter as decimal number

Definition at line 212 of file cam_getters.h.

245 {
246#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
247
254inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
255 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
256}
257
264inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
265 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
266}
267
274inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
275 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
276}
277
284inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
285 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
286}
287
288#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
289
299inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
300 double object_heading = getHeading(cam) * M_PI / 180.0;
301 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
302}
303
313inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
314 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
315}
316
317}

◆ getVehicleWidth() [2/2]

double etsi_its_cam_msgs::access::getVehicleWidth ( const VehicleWidth & vehicle_width)
inline

Get the Vehicle Width.

Parameters
vehicleWidthto get the vehicle width value from
Returns
vehicle width value in meter as decimal number

Definition at line 204 of file cam_getters.h.

237{
238#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
239
246inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
247 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
248}
249
256inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
257 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
258}
259
266inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
267 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
268}
269
276inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
277 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
278}
279
280#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
281
291inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
292 double object_heading = getHeading(cam) * M_PI / 180.0;
293 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
294}
295
305inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
306 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
307}
308
309}

◆ getWGSPosConfidenceEllipse()

template<typename PosConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_msgs::access::getWGSPosConfidenceEllipse ( const PosConfidenceEllipse & position_confidence_ellipse)
inline

Get the covariance matrix of the position confidence ellipse.

Parameters
position_confidence_ellipseThe position confidence ellipse to get the covariance matrix from
object_headingThe object heading in radians
Returns
std::array<double, 4> The covariance matrix of the position confidence ellipse in WGS coordinates (x = North, y = East)

Definition at line 299 of file cam_getters.h.

332 {
333#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
334
341inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
342 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
343}
344
351inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
352 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
353}
354
361inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
362 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
363}
364
371inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
372 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
373}
374
375#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
376
386inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
387 double object_heading = getHeading(cam) * M_PI / 180.0;
388 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
389}
390
400inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
401 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
402}
403
404}

◆ getWGSRefPosConfidence()

const std::array< double, 4 > etsi_its_cam_msgs::access::getWGSRefPosConfidence ( const CAM & cam)
inline

Get the confidence ellipse of the reference position as Covariance matrix.

The covariance matrix will have the entries cov_xx, cov_xy, cov_yx, cov_yy where x is WGS84 North and y is East

Parameters
camThe CAM message to get the reference position from
Returns
const std::array<double, 4> the covariance matrix, as specified above

Definition at line 427 of file cam_getters.h.

460 {
461#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
462
469inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
470 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
471}
472
479inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
480 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
481}
482
489inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
490 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
491}
492
499inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
500 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
501}
502
503#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
504
514inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
515 double object_heading = getHeading(cam) * M_PI / 180.0;
516 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
517}
518
528inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
529 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
530}
531
532}

◆ getYawRate()

double etsi_its_cam_msgs::access::getYawRate ( const CAM & cam)
inline

Get the Yaw Rate of CAM.

Parameters
camCAM to get the YawRate from
Returns
double yaw rate in degrees per second as decimal number

Definition at line 163 of file cam_getters.h.

196 {
197#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
198
205inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
206 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
207}
208
215inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
216 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
217}
218
225inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
226 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
227}
228
235inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
236 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
237}
238
239#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
240
250inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
251 double object_heading = getHeading(cam) * M_PI / 180.0;
252 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
253}
254
264inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
265 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
266}
267
268}

◆ getYawRateCDD()

template<typename YawRate>
double etsi_its_cam_msgs::access::getYawRateCDD ( const YawRate & yaw_rate)
inline

Get the Yaw Rate value.

Parameters
yaw_rateThe YawRate object to get the yaw rate from
Returns
double The yaw rate in degrees per second

Definition at line 179 of file cam_getters.h.

212 {
213#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
214
221inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
222 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
223}
224
231inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
232 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
233}
234
241inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
242 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
243}
244
251inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
252 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
253}
254
255#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
256
266inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
267 double object_heading = getHeading(cam) * M_PI / 180.0;
268 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
269}
270
280inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
281 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
282}
283
284}

◆ getYawRateConfidence()

double etsi_its_cam_msgs::access::getYawRateConfidence ( const CAM & cam)
inline

Get the Yaw Rate Confidence of CAM.

Parameters
camCAM to get the YawRateConfidence from
Returns
double yaw rate standard deviation in degrees per second as decimal number

Definition at line 173 of file cam_getters.h.

206 {
207#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
208
215inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
216 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
217}
218
225inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
226 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
227}
228
235inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
236 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
237}
238
245inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
246 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
247}
248
249#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
250
260inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
261 double object_heading = getHeading(cam) * M_PI / 180.0;
262 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
263}
264
274inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
275 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
276}
277
278}

◆ getYawRateConfidenceCDD()

template<typename YawRate, typename YawRateConfidence = decltype(YawRate::yaw_rate_confidence)>
double etsi_its_cam_msgs::access::getYawRateConfidenceCDD ( const YawRate & yaw_rate)
inline

Get the Yaw Rate Confidence.

Parameters
yaw_rateThe YawRate object to get the yaw rate confidence from
Returns
double The yaw rate standard deviation in degrees per second

Definition at line 190 of file cam_getters.h.

223 {
224#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
225
232inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
233 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
234}
235
242inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
243 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
244}
245
252inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
253 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
254}
255
262inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
263 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
264}
265
266#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
267
277inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
278 double object_heading = getHeading(cam) * M_PI / 180.0;
279 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
280}
281
291inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
292 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
293}
294
295}

◆ WGSCovMatrixFromConfidenceEllipse()

std::array< double, 4 > etsi_its_cam_msgs::access::WGSCovMatrixFromConfidenceEllipse ( double semi_major,
double semi_minor,
double major_orientation )
inline

Convert the confidence ellipse to a covariance matrix.

Note that the major_orientation is given in degrees, while the object_heading is given in radians!

Parameters
semi_majorSemi major axis length in meters
semi_minorSemi minor axis length in meters
major_orientationOrientation of the major axis in degrees, relative to WGS84
Returns
std::array<double, 4> The covariance matrix in WGS coordinates (x = North, y = East)

Definition at line 273 of file cam_getters.h.

306 {
307#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
308
315inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
316 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
317}
318
325inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
326 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
327}
328
335inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
336 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
337}
338
345inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
346 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
347}
348
349#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
350
360inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
361 double object_heading = getHeading(cam) * M_PI / 180.0;
362 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
363}
364
374inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
375 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
376}
377
378}