cam_getters_common.h File Reference

Common getter functions for the ETSI ITS CAM (EN and TS) More...

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Functions
uint32_t	getStationID (const CAM &cam)
	Get the Station ID object.
GenerationDeltaTime	getGenerationDeltaTime (const CAM &cam)
	Get the GenerationDeltaTime.
uint16_t	getGenerationDeltaTimeValue (const CAM &cam)
	Get the GenerationDeltaTime-Value.
uint8_t	getStationType (const CAM &cam)
	Get the stationType object.
double	getLatitude (const CAM &cam)
	Get the Latitude value of CAM.
double	getLongitude (const CAM &cam)
	Get the Longitude value of CAM.
double	getAltitude (const CAM &cam)
	Get the Altitude value of CAM.
double	getHeading (const Heading &heading)
	Get the Heading value.
double	getHeading (const CAM &cam)
	Get the Heading value of CAM.
double	getVehicleLength (const VehicleLength &vehicle_length)
	Get the Vehicle Length.
double	getVehicleLength (const CAM &cam)
	Get the Vehicle Length.
double	getVehicleWidth (const VehicleWidth &vehicle_width)
	Get the Vehicle Width.
double	getVehicleWidth (const CAM &cam)
	Get the Vehicle Width.
double	getSpeed (const CAM &cam)
	Get the vehicle speed.
double	getLongitudinalAcceleration (const CAM &cam)
	Get the longitudinal acceleration.
double	getLateralAcceleration (const CAM &cam)
	Get the lateral acceleration.
gm::PointStamped	getUTMPosition (const CAM &cam, int &zone, bool &northp)
	Get the UTM Position defined within the BasicContainer of the CAM.
gm::PointStamped	getUTMPosition (const CAM &cam)
	Get the UTM Position defined within the BasicContainer of the CAM.
std::vector< bool >	getExteriorLights (const ExteriorLights &exterior_lights)
	Get the Exterior Lights in form of bool vector.
std::vector< bool >	getExteriorLights (const CAM &cam)
	Get Exterior Lights as bool vector.
std::vector< bool >	getAccelerationControl (const AccelerationControl &acceleration_control)
	Get Acceleration Control in form of bool vector.
std::vector< bool >	getDrivingLaneStatus (const DrivingLaneStatus &driving_lane_status)
	Get the Driving Lane Status in form of bool vector.
std::vector< bool >	getSpecialTransportType (const SpecialTransportType &special_transport_type)
	Get the Special Transport Type in form of bool vector.
std::vector< bool >	getLightBarSirenInUse (const LightBarSirenInUse &light_bar_siren_in_use)
	Get the Lightbar Siren In Use in form of bool vector.
std::vector< bool >	getEmergencyPriority (const EmergencyPriority &emergency_priority)
	Get the Vehicle Role in form of bool vector.

Detailed Description

Common getter functions for the ETSI ITS CAM (EN and TS)

Definition in file cam_getters_common.h.

Function Documentation

getAccelerationControl()

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

inline

Get Acceleration Control in form of bool vector.

Parameters

acceleration_control

Returns

std::vector<bool>

Definition at line 262 of file cam_getters_common.h.

                                                                                               {
  return getBitString(acceleration_control.value, acceleration_control.bits_unused);
}

getAltitude()

double getAltitude ( const CAM & cam )

inline

Get the Altitude value of CAM.

Parameters

cam	CAM to get the Altitude value from

Returns

Altitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 93 of file cam_getters_common.h.

                                          {
  return getAltitude(cam.cam.cam_parameters.basic_container.reference_position.altitude);
}

getDrivingLaneStatus()

std::vector< bool > 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 272 of file cam_getters_common.h.

                                                                                          {
  return getBitString(driving_lane_status.value, driving_lane_status.bits_unused);
}

getEmergencyPriority()

std::vector< bool > 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 302 of file cam_getters_common.h.

                                                                                         {
  return getBitString(emergency_priority.value, emergency_priority.bits_unused);
}

getExteriorLights() [1/2]

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

inline

Get Exterior Lights as bool vector.

Parameters

cam	CAM to get the ExteriorLights values from

Returns

std::vector<bool>

Definition at line 242 of file cam_getters_common.h.

                                                         {
  if (cam.cam.cam_parameters.low_frequency_container_is_present) {
    if (cam.cam.cam_parameters.low_frequency_container.choice ==
        LowFrequencyContainer::CHOICE_BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY) {
      return getExteriorLights(
          cam.cam.cam_parameters.low_frequency_container.basic_vehicle_container_low_frequency.exterior_lights);
    } else {
      throw std::invalid_argument("LowFrequencyContainer is not BASIC_VEHICLE_CONTAINER_LOW_FREQUENCY!");
    }
  } else {
    throw std::invalid_argument("LowFrequencyContainer is not present!");
  }
}

getExteriorLights() [2/2]

std::vector< bool > 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 232 of file cam_getters_common.h.

                                                                                {
  return getBitString(exterior_lights.value, exterior_lights.bits_unused);
}

getGenerationDeltaTime()

GenerationDeltaTime getGenerationDeltaTime ( const CAM & cam )

inline

Get the GenerationDeltaTime.

Parameters

cam	CAM to get the GenerationDeltaTime from

Returns

GenerationDeltaTime the GenerationDeltaTime

Definition at line 49 of file cam_getters_common.h.

{ return cam.cam.generation_delta_time; }

getGenerationDeltaTimeValue()

uint16_t getGenerationDeltaTimeValue ( const CAM & cam )

inline

Get the GenerationDeltaTime-Value.

Parameters

cam	CAM to get the GenerationDeltaTime-Value from

Returns

uint16_t the GenerationDeltaTime-Value

Definition at line 57 of file cam_getters_common.h.

{ return getGenerationDeltaTime(cam).value; }

getHeading() [1/2]

double 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

cam	CAM to get the Heading value from

Returns

Heading value in degree as decimal number

Definition at line 115 of file cam_getters_common.h.

                                         {
  return getHeading(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.heading);
}

getHeading() [2/2]

double getHeading ( 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

heading

to get the Heading value from

Returns

Heading value in degree as decimal number

Definition at line 105 of file cam_getters_common.h.

{ return ((double)heading.heading_value.value) * 1e-1; }

getLateralAcceleration()

double getLateralAcceleration ( const CAM & cam )

inline

Get the lateral acceleration.

Parameters

cam	CAM to get the lateral acceleration from

Returns

lateral acceleration in m/s^2 as decimal number (left is positive)

Definition at line 186 of file cam_getters_common.h.

                                                     {
  if (cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency
          .lateral_acceleration_is_present) {
    return getLateralAcceleration(
        cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.lateral_acceleration);
  } else {
    throw std::invalid_argument("LateralAcceleration is not present!");
  }
}

getLatitude()

double getLatitude ( const CAM & cam )

inline

Get the Latitude value of CAM.

Parameters

cam	CAM to get the Latitude value from

Returns

Latitude value in degree as decimal number

Definition at line 73 of file cam_getters_common.h.

                                          {
  return getLatitude(cam.cam.cam_parameters.basic_container.reference_position.latitude);
}

getLightBarSirenInUse()

std::vector< bool > 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 292 of file cam_getters_common.h.

                                                                                               {
  return getBitString(light_bar_siren_in_use.value, light_bar_siren_in_use.bits_unused);
}

getLongitude()

double getLongitude ( const CAM & cam )

inline

Get the Longitude value of CAM.

Parameters

cam	CAM to get the Longitude value from

Returns

Longitude value in degree as decimal number

Definition at line 83 of file cam_getters_common.h.

                                           {
  return getLongitude(cam.cam.cam_parameters.basic_container.reference_position.longitude);
}

getLongitudinalAcceleration()

double getLongitudinalAcceleration ( const CAM & cam )

inline

Get the longitudinal acceleration.

Parameters

cam	CAM to get the longitudinal acceleration from

Returns

longitudinal acceleration in m/s^2 as decimal number (left is positive)

Definition at line 175 of file cam_getters_common.h.

                                                          {
  return getLongitudinalAcceleration(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.longitudinal_acceleration);
}

getSpecialTransportType()

std::vector< bool > 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 282 of file cam_getters_common.h.

                                                                                                   {
  return getBitString(special_transport_type.value, special_transport_type.bits_unused);
}

getSpeed()

double getSpeed ( const CAM & cam )

inline

Get the vehicle speed.

Parameters

cam	CAM to get the speed value from

Returns

speed value in m/s as decimal number

Definition at line 165 of file cam_getters_common.h.

                                       {
  return getSpeed(cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.speed);
}

getStationID()

uint32_t getStationID ( const CAM & cam )

inline

Get the Station ID object.

Parameters

cam	CAM to get the StationID value from

Returns

stationID value

Definition at line 41 of file cam_getters_common.h.

{ return getStationID(cam.header); }

getStationType()

uint8_t getStationType ( const CAM & cam )

inline

Get the stationType object.

Parameters

cam	CAM to get the stationType value from

Returns

stationType value

Definition at line 65 of file cam_getters_common.h.

{ return cam.cam.cam_parameters.basic_container.station_type.value; }

getUTMPosition() [1/2]

gm::PointStamped 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]

cam

CAM to get the UTM Position from

Returns

gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 220 of file cam_getters_common.h.

                                                     {
  int zone;
  bool northp;
  return getUTMPosition(cam.cam.cam_parameters.basic_container.reference_position, zone, northp);
}

getUTMPosition() [2/2]

gm::PointStamped 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]	cam	CAM to get the UTM Position from
[out]	zone	the UTM zone (zero means UPS)
[out]	northp	hemisphere (true means north, false means south)

Returns

gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 207 of file cam_getters_common.h.

                                                                              {
  return getUTMPosition(cam.cam.cam_parameters.basic_container.reference_position, zone, northp);
}

getVehicleLength() [1/2]

double getVehicleLength ( const CAM & cam )

inline

Get the Vehicle Length.

Parameters

cam	CAM to get the vehicle length value from

Returns

vehicle length value in meter as decimal number

Definition at line 135 of file cam_getters_common.h.

                                               {
  return getVehicleLength(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_length);
}

getVehicleLength() [2/2]

double getVehicleLength ( const VehicleLength & vehicle_length )

inline

Get the Vehicle Length.

Parameters

vehicleLength

to get the vehicle length value from

Returns

vehicle length value in meter as decimal number

Definition at line 125 of file cam_getters_common.h.

                                                                    {
  return ((double)vehicle_length.vehicle_length_value.value) * 1e-1;
}

getVehicleWidth() [1/2]

double getVehicleWidth ( const CAM & cam )

inline

Get the Vehicle Width.

Parameters

cam	CAM to get the vehicle width value from

Returns

vehicle width value in meter as decimal number

Definition at line 154 of file cam_getters_common.h.

                                              {
  return getVehicleWidth(
      cam.cam.cam_parameters.high_frequency_container.basic_vehicle_container_high_frequency.vehicle_width);
}

getVehicleWidth() [2/2]

double getVehicleWidth ( const VehicleWidth & vehicle_width )

inline

Get the Vehicle Width.

Parameters

vehicleWidth

to get the vehicle width value from

Returns

vehicle width value in meter as decimal number

Definition at line 146 of file cam_getters_common.h.

{ return ((double)vehicle_width.value) * 1e-1; }