etsi_its_messages v3.4.0
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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 323 of file cam_getters.h.

356 {
357#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
358
365inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
366 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
367}
368
375inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
376 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
377}
378
385inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
386 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
387}
388
395inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
396 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
397}
398
399#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
400
410inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
411 double object_heading = getHeading(cam) * M_PI / 180.0;
412 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
413}
414
424inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
425 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
426}
427
428}
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:88
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:102
etsi_its_cam_msgs::access::getLateralAccelerationConfidence
double getLateralAccelerationConfidence(const LateralAcceleration &lateral_acceleration)
Get the Lateral Acceleration Confidence.
Definition cam_getters.h:73
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:43
etsi_its_cam_msgs::access::getHeading
double getHeading(const CAM &cam)
Get the Heading value of CAM.
Definition cam_getters.h:107
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 95 of file cam_getters.h.

◆ 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 333 of file cam_getters.h.

375inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
376 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
377}
378
385inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
386 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
387}
388
395inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
396 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
397}
398
405inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
406 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
407}
408
409#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
410
420inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
421 double object_heading = getHeading(cam) * M_PI / 180.0;
422 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
423}
424
434inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
435 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
436}
437
438}

◆ 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 363 of file cam_getters.h.

396 {
397#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
398
405inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
406 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
407}
408
415inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
416 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
417}
418
425inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
426 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
427}
428
435inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
436 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
437}
438
439#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
440
450inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
451 double object_heading = getHeading(cam) * M_PI / 180.0;
452 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
453}
454
464inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
465 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
466}
467
468}

◆ 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 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}

◆ 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 293 of file cam_getters.h.

326 {
327#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
328
335inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
336 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
337}
338
345inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
346 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
347}
348
355inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
356 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
357}
358
365inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
366 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
367}
368
369#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
370
380inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
381 double object_heading = getHeading(cam) * M_PI / 180.0;
382 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
383}
384
394inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
395 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
396}
397
398}

◆ 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 51 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 59 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 107 of file cam_getters.h.

140 {
141#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
142
149inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
150 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
151}
152
159inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
160 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
161}
162
169inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
170 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
171}
172
179inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
180 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
181}
182
183#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
184
194inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
195 double object_heading = getHeading(cam) * M_PI / 180.0;
196 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
197}
198
208inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
209 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
210}
211
212}

◆ 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 118 of file cam_getters.h.

151 {
152#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
153
160inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
161 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
162}
163
170inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
171 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
172}
173
180inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
181 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
182}
183
190inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
191 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
192}
193
194#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
195
205inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
206 double object_heading = getHeading(cam) * M_PI / 180.0;
207 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
208}
209
219inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
220 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
221}
222
223}

◆ 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 231 of file cam_getters.h.

264 {
265#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
266
273inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
274 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
275}
276
283inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
284 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
285}
286
293inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
294 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
295}
296
303inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
304 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
305}
306
307#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
308
318inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
319 double object_heading = getHeading(cam) * M_PI / 180.0;
320 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
321}
322
332inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
333 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
334}
335
336}

◆ 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 63 of file cam_getters.h.

63 {
64 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
65}

◆ 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 247 of file cam_getters.h.

280 {
281#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
282
289inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
290 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
291}
292
299inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
300 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
301}
302
309inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
310 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
311}
312
319inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
320 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
321}
322
323#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
324
334inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
335 double object_heading = getHeading(cam) * M_PI / 180.0;
336 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
337}
338
348inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
349 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
350}
351
352}

◆ 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 73 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}

◆ 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 75 of file cam_getters.h.

◆ 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 353 of file cam_getters.h.

386 {
387#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
388
395inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
396 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
397}
398
405inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
406 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
407}
408
415inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
416 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
417}
418
425inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
426 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
427}
428
429#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
430
440inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
441 double object_heading = getHeading(cam) * M_PI / 180.0;
442 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
443}
444
454inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
455 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
456}
457
458}

◆ 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 85 of file cam_getters.h.

◆ 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 209 of file cam_getters.h.

242 {
243#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
244
251inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
252 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
253}
254
261inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
262 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
263}
264
271inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
272 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
273}
274
281inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
282 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
283}
284
285#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
286
296inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
297 double object_heading = getHeading(cam) * M_PI / 180.0;
298 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
299}
300
310inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
311 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
312}
313
314}

◆ 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 43 of file cam_getters.h.

43 {
44 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
45}

◆ 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 220 of file cam_getters.h.

253 {
254#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
255
262inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
263 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
264}
265
272inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
273 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
274}
275
282inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
283 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
284}
285
292inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
293 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
294}
295
296#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
297
307inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
308 double object_heading = getHeading(cam) * M_PI / 180.0;
309 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
310}
311
321inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
322 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
323}
324
325}

◆ 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 53 of file cam_getters.h.

53 {
54 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
55}

◆ 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 88 of file cam_getters.h.

88 {
89 double object_heading = getHeading(cam) * M_PI / 180.0;
90 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
91}

◆ 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 343 of file cam_getters.h.

376 {
377#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
378
385inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
386 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
387}
388
395inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
396 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
397}
398
405inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
406 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
407}
408
415inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
416 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
417}
418
419#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
420
430inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
431 double object_heading = getHeading(cam) * M_PI / 180.0;
432 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
433}
434
444inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
445 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
446}
447
448}

◆ 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 188 of file cam_getters.h.

221 {
222#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
223
230inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
231 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
232}
233
240inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
241 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
242}
243
250inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
251 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
252}
253
260inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
261 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
262}
263
264#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
265
275inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
276 double object_heading = getHeading(cam) * M_PI / 180.0;
277 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
278}
279
289inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
290 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
291}
292
293}

◆ 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 198 of file cam_getters.h.

231 {
232#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
233
240inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
241 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
242}
243
250inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
251 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
252}
253
260inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
261 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
262}
263
270inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
271 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
272}
273
274#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
275
285inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
286 double object_heading = getHeading(cam) * M_PI / 180.0;
287 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
288}
289
299inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
300 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
301}
302
303}

◆ 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 43 of file cam_getters.h.

43{

◆ 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 67 of file cam_getters.h.

◆ 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 281 of file cam_getters.h.

314 {
315#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
316
323inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
324 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
325}
326
333inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
334 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
335}
336
343inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
344 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
345}
346
353inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
354 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
355}
356
357#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
358
368inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
369 double object_heading = getHeading(cam) * M_PI / 180.0;
370 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
371}
372
382inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
383 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
384}
385
386}

◆ 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 268 of file cam_getters.h.

301 {
302#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
303
310inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
311 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
312}
313
320inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
321 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
322}
323
330inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
331 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
332}
333
340inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
341 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
342}
343
344#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
345
355inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
356 double object_heading = getHeading(cam) * M_PI / 180.0;
357 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
358}
359
369inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
370 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
371}
372
373}

◆ 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 158 of file cam_getters.h.

191 {
192#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
193
200inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
201 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
202}
203
210inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
211 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
212}
213
220inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
221 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
222}
223
230inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
231 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
232}
233
234#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
235
245inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
246 double object_heading = getHeading(cam) * M_PI / 180.0;
247 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
248}
249
259inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
260 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
261}
262
263}

◆ 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 148 of file cam_getters.h.

181 {
182#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
183
190inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
191 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
192}
193
200inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
201 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
202}
203
210inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
211 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
212}
213
220inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
221 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
222}
223
224#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
225
235inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
236 double object_heading = getHeading(cam) * M_PI / 180.0;
237 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
238}
239
249inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
250 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
251}
252
253}

◆ 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 177 of file cam_getters.h.

210 {
211#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
212
219inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
220 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
221}
222
229inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
230 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
231}
232
239inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
240 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
241}
242
249inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
250 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
251}
252
253#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
254
264inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
265 double object_heading = getHeading(cam) * M_PI / 180.0;
266 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
267}
268
278inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
279 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
280}
281
282}

◆ 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 169 of file cam_getters.h.

202{
203#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
204
211inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
212 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
213}
214
221inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
222 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
223}
224
231inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
232 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
233}
234
241inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
242 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
243}
244
245#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
246
256inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
257 double object_heading = getHeading(cam) * M_PI / 180.0;
258 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
259}
260
270inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
271 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
272}
273
274}

◆ 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 102 of file cam_getters.h.

102 {
103 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
104}

◆ 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 128 of file cam_getters.h.

161 {
162#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
163
170inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
171 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
172}
173
180inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
181 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
182}
183
190inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
191 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
192}
193
200inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
201 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
202}
203
204#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
205
215inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
216 double object_heading = getHeading(cam) * M_PI / 180.0;
217 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
218}
219
229inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
230 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
231}
232
233}

◆ 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 138 of file cam_getters.h.

171 {
172#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
173
180inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
181 return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
182}
183
190inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
191 return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
192}
193
200inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
201 return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
202}
203
210inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
211 return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
212}
213
214#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
215
225inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
226 double object_heading = getHeading(cam) * M_PI / 180.0;
227 return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
228}
229
239inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
240 return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
241}
242
243}

◆ 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}