cam_getters.h

Go to the documentation of this file.

// SPDX-License-Identifier: MIT
// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University

 
#pragma once
 
namespace etsi_its_cam_msgs::access {
#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>

inline double getLongitudinalAcceleration(const LongitudinalAcceleration& longitudinal_acceleration) {
  return ((double)longitudinal_acceleration.longitudinal_acceleration_value.value) * 1e-1;
}

inline double getLongitudinalAccelerationConfidence(const LongitudinalAcceleration& longitudinal_acceleration) {
  return ((double)longitudinal_acceleration.longitudinal_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
}

inline double getLateralAcceleration(const LateralAcceleration& lateral_acceleration) {
  return ((double)lateral_acceleration.lateral_acceleration_value.value) * 1e-1;
}


 * @return double standard deviation of the lateral acceleration in m/s^2 as decimal number
 */
inline double getLateralAccelerationConfidence(const LateralAcceleration& lateral_acceleration) {
  return ((double)lateral_acceleration.lateral_acceleration_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
}
 
#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>

 * @param cam The CAM message to get the reference position from
 * @return const std::array<double, 4> the covariance matrix, as specified above
 */
inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
  double object_heading = getHeading(cam) * M_PI / 180.0;
  return getPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
}


 *
 * The covariance matrix will have the entries cov_xx, cov_xy, cov_yx, cov_yy
 * where x is WGS84 North and y is East
 *
 * @param cam The CAM message to get the reference position from
 * @return const std::array<double, 4> the covariance matrix, as specified above
 */
inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
  return getWGSPosConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
}
 
}  // namespace etsi_its_cam_msgs::access