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

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

#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_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_ts_msgs::access::getStationID (const ItsPduHeader &header)
 Get the StationID of ItsPduHeader.
 
double etsi_its_cam_ts_msgs::access::getLatitude (const Latitude &latitude)
 Get the Latitude value.
 
double etsi_its_cam_ts_msgs::access::getLongitude (const Longitude &longitude)
 Get the Longitude value.
 
double etsi_its_cam_ts_msgs::access::getAltitude (const Altitude &altitude)
 Get the Altitude value.
 
double etsi_its_cam_ts_msgs::access::getSpeed (const Speed &speed)
 Get the vehicle speed.
 
double etsi_its_cam_ts_msgs::access::getSpeedConfidence (const Speed &speed)
 Get the Speed Confidence.
 
template<typename AccelerationMagnitude>
double etsi_its_cam_ts_msgs::access::getAccelerationMagnitude (const AccelerationMagnitude &acceleration_magnitude)
 Get the AccelerationMagnitude value.
 
template<typename AccelerationMagnitude>
double etsi_its_cam_ts_msgs::access::getAccelerationMagnitudeConfidence (const AccelerationMagnitude &acceleration_magnitude)
 Get the AccelerationMagnitude Confidence.
 
template<typename T>
gm::PointStamped etsi_its_cam_ts_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_ts_msgs::access::getHeadingCDD (const Heading &heading)
 Get the Heading value.
 
template<typename Heading>
double etsi_its_cam_ts_msgs::access::getHeadingConfidenceCDD (const Heading &heading)
 Get the Heading value.
 
template<typename YawRate>
double etsi_its_cam_ts_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_ts_msgs::access::getYawRateConfidenceCDD (const YawRate &yaw_rate)
 Get the Yaw Rate Confidence.
 
template<typename SemiAxisLength>
double etsi_its_cam_ts_msgs::access::getSemiAxis (const SemiAxisLength &semi_axis_length)
 Get the Semi Axis object.
 
template<typename PosConfidenceEllipse>
std::tuple< double, double, double > etsi_its_cam_ts_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_ts_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_ts_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_ts_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_ts_msgs::access::getWGSPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse)
 Get the covariance matrix of the position confidence ellipse.
 
double etsi_its_cam_ts_msgs::access::getLongitudinalAcceleration (const AccelerationComponent &longitudinal_acceleration)
 Get the longitudinal acceleration.
 
double etsi_its_cam_ts_msgs::access::getLongitudinalAccelerationConfidence (const AccelerationComponent &longitudinal_acceleration)
 Get the Longitudinal Acceleration Confidence.
 
double etsi_its_cam_ts_msgs::access::getLateralAcceleration (const AccelerationComponent &lateral_acceleration)
 Get the lateral acceleration.
 
double etsi_its_cam_ts_msgs::access::getLateralAccelerationConfidence (const AccelerationComponent &lateral_acceleration)
 Get the Lateral Acceleration Confidence.
 
template<typename PositionConfidenceEllipse>
std::tuple< double, double, double > etsi_its_cam_ts_msgs::access::getPositionConfidenceEllipse (PositionConfidenceEllipse &position_confidence_ellipse)
 Extract major axis length, minor axis length and orientation from the given position confidence ellipse.
 
template<typename PositionConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_ts_msgs::access::getPositionConfidenceEllipse (const PositionConfidenceEllipse &position_confidence_ellipse, const double object_heading)
 Get the covariance matrix of the position confidence ellipse.
 
template<typename PositionConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_ts_msgs::access::getWGSPositionConfidenceEllipse (const PositionConfidenceEllipse &position_confidence_ellipse)
 Get the covariance matrix of the position confidence ellipse.
 
std::vector< bool > etsi_its_cam_ts_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_ts_msgs::access::getStationID (const CAM &cam)
 Get the Station ID object.
 
GenerationDeltaTime etsi_its_cam_ts_msgs::access::getGenerationDeltaTime (const CAM &cam)
 Get the GenerationDeltaTime.
 
uint16_t etsi_its_cam_ts_msgs::access::getGenerationDeltaTimeValue (const CAM &cam)
 Get the GenerationDeltaTime-Value.
 
uint8_t etsi_its_cam_ts_msgs::access::getStationType (const CAM &cam)
 Get the stationType object.
 
double etsi_its_cam_ts_msgs::access::getLatitude (const CAM &cam)
 Get the Latitude value of CAM.
 
double etsi_its_cam_ts_msgs::access::getLongitude (const CAM &cam)
 Get the Longitude value of CAM.
 
double etsi_its_cam_ts_msgs::access::getAltitude (const CAM &cam)
 Get the Altitude value of CAM.
 
double etsi_its_cam_ts_msgs::access::getHeading (const CAM &cam)
 Get the Heading value of CAM.
 
double etsi_its_cam_ts_msgs::access::getHeadingConfidence (const CAM &cam)
 Get the Heading confidence of CAM.
 
double etsi_its_cam_ts_msgs::access::getYawRate (const CAM &cam)
 Get the Yaw Rate of CAM.
 
double etsi_its_cam_ts_msgs::access::getYawRateConfidence (const CAM &cam)
 Get the Yaw Rate Confidence of CAM.
 
double etsi_its_cam_ts_msgs::access::getVehicleLength (const VehicleLength &vehicle_length)
 Get the Vehicle Length.
 
double etsi_its_cam_ts_msgs::access::getVehicleLength (const CAM &cam)
 Get the Vehicle Length.
 
double etsi_its_cam_ts_msgs::access::getVehicleWidth (const VehicleWidth &vehicle_width)
 Get the Vehicle Width.
 
double etsi_its_cam_ts_msgs::access::getVehicleWidth (const CAM &cam)
 Get the Vehicle Width.
 
double etsi_its_cam_ts_msgs::access::getSpeed (const CAM &cam)
 Get the vehicle speed.
 
double etsi_its_cam_ts_msgs::access::getSpeedConfidence (const CAM &cam)
 Get the Speed Confidence.
 
double etsi_its_cam_ts_msgs::access::getLongitudinalAcceleration (const CAM &cam)
 Get the longitudinal acceleration.
 
double etsi_its_cam_ts_msgs::access::getLongitudinalAccelerationConfidence (const CAM &cam)
 Get the Longitudinal Acceleration Confidence.
 
double etsi_its_cam_ts_msgs::access::getLateralAcceleration (const CAM &cam)
 Get the lateral acceleration.
 
double etsi_its_cam_ts_msgs::access::getLateralAccelerationConfidence (const CAM &cam)
 Get the Lateral Acceleration Confidence.
 
gm::PointStamped etsi_its_cam_ts_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_ts_msgs::access::getUTMPosition (const CAM &cam)
 Get the UTM Position defined within the BasicContainer of the CAM.
 
std::vector< bool > etsi_its_cam_ts_msgs::access::getExteriorLights (const ExteriorLights &exterior_lights)
 Get the Exterior Lights in form of bool vector.
 
std::vector< bool > etsi_its_cam_ts_msgs::access::getExteriorLights (const CAM &cam)
 Get Exterior Lights as bool vector.
 
std::vector< bool > etsi_its_cam_ts_msgs::access::getAccelerationControl (const AccelerationControl &acceleration_control)
 Get Acceleration Control in form of bool vector.
 
std::vector< bool > etsi_its_cam_ts_msgs::access::getDrivingLaneStatus (const DrivingLaneStatus &driving_lane_status)
 Get the Driving Lane Status in form of bool vector.
 
std::vector< bool > etsi_its_cam_ts_msgs::access::getSpecialTransportType (const SpecialTransportType &special_transport_type)
 Get the Special Transport Type in form of bool vector.
 
std::vector< bool > etsi_its_cam_ts_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_ts_msgs::access::getEmergencyPriority (const EmergencyPriority &emergency_priority)
 Get the Vehicle Role in form of bool vector.
 
const std::array< double, 4 > etsi_its_cam_ts_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_ts_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 (TS)

Definition in file cam_ts_getters.h.

Function Documentation

◆ CovMatrixFromConfidenceEllipse()

std::array< double, 4 > etsi_its_cam_ts_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_ts_getters.h.

◆ getAccelerationControl()

std::vector< bool > etsi_its_cam_ts_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 356 of file cam_ts_getters.h.

389 {
390#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
391
392#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
393
403inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
404 double object_heading = getHeading(cam) * M_PI / 180.0;
405 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
406}
407
417inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
418 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
419}
420
421} // namespace etsi_its_cam_ts_msgs::access
cam_getters_common.h
Common getter functions for the ETSI ITS CAM (EN and TS)
etsi_its_cam_ts_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_ts_getters.h:411
etsi_its_cam_ts_msgs::access::getPositionConfidenceEllipse
std::tuple< double, double, double > getPositionConfidenceEllipse(PositionConfidenceEllipse &position_confidence_ellipse)
Extract major axis length, minor axis length and orientation from the given position confidence ellip...
Definition cam_ts_getters.h:354
etsi_its_cam_ts_msgs::access::getHeading
double getHeading(const CAM &cam)
Get the Heading value of CAM.
Definition cam_ts_getters.h:140
cdd_v2-1-1_getters.h
Getter functions for the ETSI ITS Common Data Dictionary (CDD) v2.1.1.
getWGSPositionConfidenceEllipse
std::array< double, 4 > getWGSPositionConfidenceEllipse(const PositionConfidenceEllipse &position_confidence_ellipse)
Get the covariance matrix of the position confidence ellipse.
Definition cdd_v2-1-1_getters.h:116

◆ getAccelerationMagnitude()

template<typename AccelerationMagnitude>
double etsi_its_cam_ts_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_ts_getters.h.

136 {
137#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
138
139#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
140
150inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
151 double object_heading = getHeading(cam) * M_PI / 180.0;
152 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
153}
154
164inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
165 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
166}
167
168} // namespace etsi_its_cam_ts_msgs::access

◆ getAccelerationMagnitudeConfidence()

template<typename AccelerationMagnitude>
double etsi_its_cam_ts_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_ts_getters.h.

147 {
148#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
149
150#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
151
161inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
162 double object_heading = getHeading(cam) * M_PI / 180.0;
163 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
164}
165
175inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
176 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
177}
178
179} // namespace etsi_its_cam_ts_msgs::access

◆ getAltitude() [1/2]

double etsi_its_cam_ts_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_ts_getters.h.

104 {
105#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
106
107#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
108
118inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
119 double object_heading = getHeading(cam) * M_PI / 180.0;
120 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
121}
122
132inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
133 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
134}
135
136} // namespace etsi_its_cam_ts_msgs::access

◆ getAltitude() [2/2]

double etsi_its_cam_ts_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 128 of file cam_ts_getters.h.

161 {
162#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
163
164#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
165
175inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
176 double object_heading = getHeading(cam) * M_PI / 180.0;
177 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
178}
179
189inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
190 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
191}
192
193} // namespace etsi_its_cam_ts_msgs::access

◆ getBitString()

std::vector< bool > etsi_its_cam_ts_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_ts_getters.h.

48 {
49 double object_heading = getHeading(cam) * M_PI / 180.0;
50 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
51}
52
62inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
63 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
64}
65
66} // namespace etsi_its_cam_ts_msgs::access

◆ getDrivingLaneStatus()

std::vector< bool > etsi_its_cam_ts_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 366 of file cam_ts_getters.h.

399 {
400#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
401
402#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
403
413inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
414 double object_heading = getHeading(cam) * M_PI / 180.0;
415 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
416}
417
427inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
428 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
429}
430
431} // namespace etsi_its_cam_ts_msgs::access

◆ getEmergencyPriority()

std::vector< bool > etsi_its_cam_ts_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 396 of file cam_ts_getters.h.

429 {
430#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
431
432#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
433
443inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
444 double object_heading = getHeading(cam) * M_PI / 180.0;
445 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
446}
447
457inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
458 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
459}
460
461} // namespace etsi_its_cam_ts_msgs::access

◆ getExteriorLights() [1/2]

std::vector< bool > etsi_its_cam_ts_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 336 of file cam_ts_getters.h.

369 {
370#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
371
372#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
373
383inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
384 double object_heading = getHeading(cam) * M_PI / 180.0;
385 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
386}
387
397inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
398 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
399}
400
401} // namespace etsi_its_cam_ts_msgs::access

◆ getExteriorLights() [2/2]

std::vector< bool > etsi_its_cam_ts_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 326 of file cam_ts_getters.h.

359 {
360#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
389}
390
391} // namespace etsi_its_cam_ts_msgs::access

◆ getGenerationDeltaTime()

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

Get the GenerationDeltaTime.

Parameters
camCAM to get the GenerationDeltaTime from
Returns
GenerationDeltaTime the GenerationDeltaTime

Definition at line 84 of file cam_ts_getters.h.

117{
118#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
119
120#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
121
131inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
132 double object_heading = getHeading(cam) * M_PI / 180.0;
133 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
134}
135
145inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
146 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
147}
148
149} // namespace etsi_its_cam_ts_msgs::access

◆ getGenerationDeltaTimeValue()

uint16_t etsi_its_cam_ts_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 92 of file cam_ts_getters.h.

125{
126#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
127
128#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
129
139inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
140 double object_heading = getHeading(cam) * M_PI / 180.0;
141 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
142}
143
153inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
154 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
155}
156
157} // namespace etsi_its_cam_ts_msgs::access

◆ getHeading()

double etsi_its_cam_ts_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 140 of file cam_ts_getters.h.

173 {
174#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
175
176#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
177
187inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
188 double object_heading = getHeading(cam) * M_PI / 180.0;
189 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
190}
191
201inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
202 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
203}
204
205} // namespace etsi_its_cam_ts_msgs::access

◆ getHeadingCDD()

template<typename Heading>
double etsi_its_cam_ts_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_ts_getters.h.

192{
193#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
194
195#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
196
206inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
207 double object_heading = getHeading(cam) * M_PI / 180.0;
208 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
209}
210
220inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
221 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
222}
223
224} // namespace etsi_its_cam_ts_msgs::access

◆ getHeadingConfidence()

double etsi_its_cam_ts_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 151 of file cam_ts_getters.h.

184 {
185#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
186
187#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
188
198inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
199 double object_heading = getHeading(cam) * M_PI / 180.0;
200 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
201}
202
212inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
213 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
214}
215
216} // namespace etsi_its_cam_ts_msgs::access

◆ getHeadingConfidenceCDD()

template<typename Heading>
double etsi_its_cam_ts_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_ts_getters.h.

203{
204#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
233}
234
235} // namespace etsi_its_cam_ts_msgs::access

◆ getLateralAcceleration() [1/2]

double etsi_its_cam_ts_msgs::access::getLateralAcceleration ( const AccelerationComponent & 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 332 of file cam_ts_getters.h.

365 {
366#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
367
368#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
369
379inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
380 double object_heading = getHeading(cam) * M_PI / 180.0;
381 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
382}
383
393inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
394 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
395}
396
397} // namespace etsi_its_cam_ts_msgs::access

◆ getLateralAcceleration() [2/2]

double etsi_its_cam_ts_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 264 of file cam_ts_getters.h.

297 {
298#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
299
300#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
301
311inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
312 double object_heading = getHeading(cam) * M_PI / 180.0;
313 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
314}
315
325inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
326 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
327}
328
329} // namespace etsi_its_cam_ts_msgs::access

◆ getLateralAccelerationConfidence() [1/2]

double etsi_its_cam_ts_msgs::access::getLateralAccelerationConfidence ( const AccelerationComponent & lateral_acceleration)
inline

Get the Lateral Acceleration Confidence.

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

Definition at line 342 of file cam_ts_getters.h.

375 {
376#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
377
378#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
379
389inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
390 double object_heading = getHeading(cam) * M_PI / 180.0;
391 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
392}
393
403inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
404 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
405}
406
407} // namespace etsi_its_cam_ts_msgs::access

◆ getLateralAccelerationConfidence() [2/2]

double etsi_its_cam_ts_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 280 of file cam_ts_getters.h.

313 {
314#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
315
316#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
317
327inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
328 double object_heading = getHeading(cam) * M_PI / 180.0;
329 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
330}
331
341inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
342 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
343}
344
345} // namespace etsi_its_cam_ts_msgs::access

◆ getLatitude() [1/2]

double etsi_its_cam_ts_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 108 of file cam_ts_getters.h.

141 {
142#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
143
144#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
145
155inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
156 double object_heading = getHeading(cam) * M_PI / 180.0;
157 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
158}
159
169inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
170 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
171}
172
173} // namespace etsi_its_cam_ts_msgs::access

◆ getLatitude() [2/2]

double etsi_its_cam_ts_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_ts_getters.h.

◆ getLightBarSirenInUse()

std::vector< bool > etsi_its_cam_ts_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 386 of file cam_ts_getters.h.

419 {
420#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
421
422#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
423
433inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
434 double object_heading = getHeading(cam) * M_PI / 180.0;
435 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
436}
437
447inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
448 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
449}
450
451} // namespace etsi_its_cam_ts_msgs::access

◆ getLongitude() [1/2]

double etsi_its_cam_ts_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 118 of file cam_ts_getters.h.

151 {
152#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
153
154#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
155
165inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
166 double object_heading = getHeading(cam) * M_PI / 180.0;
167 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
168}
169
179inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
180 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
181}
182
183} // namespace etsi_its_cam_ts_msgs::access

◆ getLongitude() [2/2]

double etsi_its_cam_ts_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_ts_getters.h.

◆ getLongitudinalAcceleration() [1/2]

double etsi_its_cam_ts_msgs::access::getLongitudinalAcceleration ( const AccelerationComponent & longitudinal_acceleration)
inline

Get the longitudinal acceleration.

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

Definition at line 312 of file cam_ts_getters.h.

345 {
346#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
347
348#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
349
359inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
360 double object_heading = getHeading(cam) * M_PI / 180.0;
361 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
362}
363
373inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
374 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
375}
376
377} // namespace etsi_its_cam_ts_msgs::access

◆ getLongitudinalAcceleration() [2/2]

double etsi_its_cam_ts_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 242 of file cam_ts_getters.h.

275 {
276#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
277
278#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
279
289inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
290 double object_heading = getHeading(cam) * M_PI / 180.0;
291 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
292}
293
303inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
304 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
305}
306
307} // namespace etsi_its_cam_ts_msgs::access

◆ getLongitudinalAccelerationConfidence() [1/2]

double etsi_its_cam_ts_msgs::access::getLongitudinalAccelerationConfidence ( const AccelerationComponent & 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 322 of file cam_ts_getters.h.

355 {
356#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
357
358#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
359
369inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
370 double object_heading = getHeading(cam) * M_PI / 180.0;
371 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
372}
373
383inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
384 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
385}
386
387} // namespace etsi_its_cam_ts_msgs::access

◆ getLongitudinalAccelerationConfidence() [2/2]

double etsi_its_cam_ts_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 253 of file cam_ts_getters.h.

286 {
287#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
288
289#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
290
300inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
301 double object_heading = getHeading(cam) * M_PI / 180.0;
302 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
303}
304
314inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
315 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
316}
317
318} // namespace etsi_its_cam_ts_msgs::access

◆ getPosConfidenceEllipse() [1/2]

template<typename PosConfidenceEllipse>
std::tuple< double, double, double > etsi_its_cam_ts_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_ts_getters.h.

258 {
259#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
260
261#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
262
272inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
273 double object_heading = getHeading(cam) * M_PI / 180.0;
274 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
275}
276
286inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
287 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
288}
289
290} // namespace etsi_its_cam_ts_msgs::access

◆ getPosConfidenceEllipse() [2/2]

template<typename PosConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_ts_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_ts_getters.h.

319 {
320#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
321
322#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
323
333inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
334 double object_heading = getHeading(cam) * M_PI / 180.0;
335 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
336}
337
347inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
348 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
349}
350
351} // namespace etsi_its_cam_ts_msgs::access

◆ getPositionConfidenceEllipse() [1/2]

template<typename PositionConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_ts_msgs::access::getPositionConfidenceEllipse ( const PositionConfidenceEllipse & 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 370 of file cam_ts_getters.h.

403 {
404#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
405
406#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
407
417inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
418 double object_heading = getHeading(cam) * M_PI / 180.0;
419 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
420}
421
431inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
432 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
433}
434
435} // namespace etsi_its_cam_ts_msgs::access

◆ getPositionConfidenceEllipse() [2/2]

template<typename PositionConfidenceEllipse>
std::tuple< double, double, double > etsi_its_cam_ts_msgs::access::getPositionConfidenceEllipse ( PositionConfidenceEllipse & 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 354 of file cam_ts_getters.h.

387 {
388#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
389
390#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
391
401inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
402 double object_heading = getHeading(cam) * M_PI / 180.0;
403 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
404}
405
415inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
416 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
417}
418
419} // namespace etsi_its_cam_ts_msgs::access

◆ getRefPosConfidence()

const std::array< double, 4 > etsi_its_cam_ts_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 411 of file cam_ts_getters.h.

444 {
445#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
446
447#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
448
458inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
459 double object_heading = getHeading(cam) * M_PI / 180.0;
460 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
461}
462
472inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
473 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
474}
475
476} // namespace etsi_its_cam_ts_msgs::access

◆ getSemiAxis()

template<typename SemiAxisLength>
double etsi_its_cam_ts_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_ts_getters.h.

247 {
248#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
249
250#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
251
261inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
262 double object_heading = getHeading(cam) * M_PI / 180.0;
263 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
264}
265
275inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
276 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
277}
278
279} // namespace etsi_its_cam_ts_msgs::access

◆ getSpecialTransportType()

std::vector< bool > etsi_its_cam_ts_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 376 of file cam_ts_getters.h.

409 {
410#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
411
412#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
413
423inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
424 double object_heading = getHeading(cam) * M_PI / 180.0;
425 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
426}
427
437inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
438 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
439}
440
441} // namespace etsi_its_cam_ts_msgs::access

◆ getSpeed() [1/2]

double etsi_its_cam_ts_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 221 of file cam_ts_getters.h.

254 {
255#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
256
257#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
258
268inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
269 double object_heading = getHeading(cam) * M_PI / 180.0;
270 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
271}
272
282inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
283 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
284}
285
286} // namespace etsi_its_cam_ts_msgs::access

◆ getSpeed() [2/2]

double etsi_its_cam_ts_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_ts_getters.h.

117{
118#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
119
120#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
121
131inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
132 double object_heading = getHeading(cam) * M_PI / 180.0;
133 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
134}
135
145inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
146 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
147}
148
149} // namespace etsi_its_cam_ts_msgs::access

◆ getSpeedConfidence() [1/2]

double etsi_its_cam_ts_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 231 of file cam_ts_getters.h.

264 {
265#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
266
267#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
268
278inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
279 double object_heading = getHeading(cam) * M_PI / 180.0;
280 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
281}
282
292inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
293 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
294}
295
296} // namespace etsi_its_cam_ts_msgs::access

◆ getSpeedConfidence() [2/2]

double etsi_its_cam_ts_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_ts_getters.h.

125 {
126#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
127
128#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
129
139inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
140 double object_heading = getHeading(cam) * M_PI / 180.0;
141 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
142}
143
153inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
154 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
155}
156
157} // namespace etsi_its_cam_ts_msgs::access

◆ getStationID() [1/2]

uint32_t etsi_its_cam_ts_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 76 of file cam_ts_getters.h.

109{
110#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
111
112#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
113
123inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
124 double object_heading = getHeading(cam) * M_PI / 180.0;
125 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
126}
127
137inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
138 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
139}
140
141} // namespace etsi_its_cam_ts_msgs::access

◆ getStationID() [2/2]

uint32_t etsi_its_cam_ts_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_ts_getters.h.

◆ getStationType()

uint8_t etsi_its_cam_ts_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 100 of file cam_ts_getters.h.

133{
134#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
135
136#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
137
147inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
148 double object_heading = getHeading(cam) * M_PI / 180.0;
149 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
150}
151
161inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
162 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
163}
164
165} // namespace etsi_its_cam_ts_msgs::access

◆ getUTMPosition() [1/3]

gm::PointStamped etsi_its_cam_ts_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 314 of file cam_ts_getters.h.

347 {
348#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
349
350#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
351
361inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
362 double object_heading = getHeading(cam) * M_PI / 180.0;
363 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
364}
365
375inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
376 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
377}
378
379} // namespace etsi_its_cam_ts_msgs::access

◆ getUTMPosition() [2/3]

gm::PointStamped etsi_its_cam_ts_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 301 of file cam_ts_getters.h.

334 {
335#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
336
337#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
338
348inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
349 double object_heading = getHeading(cam) * M_PI / 180.0;
350 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
351}
352
362inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
363 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
364}
365
366} // namespace etsi_its_cam_ts_msgs::access

◆ getUTMPosition() [3/3]

template<typename T>
gm::PointStamped etsi_its_cam_ts_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_ts_getters.h.

163 {
164#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
165
166#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
167
177inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
178 double object_heading = getHeading(cam) * M_PI / 180.0;
179 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
180}
181
191inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
192 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
193}
194
195} // namespace etsi_its_cam_ts_msgs::access

◆ getVehicleLength() [1/2]

double etsi_its_cam_ts_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 191 of file cam_ts_getters.h.

224 {
225#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
226
227#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
228
238inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
239 double object_heading = getHeading(cam) * M_PI / 180.0;
240 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
241}
242
252inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
253 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
254}
255
256} // namespace etsi_its_cam_ts_msgs::access

◆ getVehicleLength() [2/2]

double etsi_its_cam_ts_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 181 of file cam_ts_getters.h.

214 {
215#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
216
217#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
218
228inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
229 double object_heading = getHeading(cam) * M_PI / 180.0;
230 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
231}
232
242inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
243 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
244}
245
246} // namespace etsi_its_cam_ts_msgs::access

◆ getVehicleWidth() [1/2]

double etsi_its_cam_ts_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 210 of file cam_ts_getters.h.

243 {
244#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
273}
274
275} // namespace etsi_its_cam_ts_msgs::access

◆ getVehicleWidth() [2/2]

double etsi_its_cam_ts_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 202 of file cam_ts_getters.h.

235{
236#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
237
238#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
239
249inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
250 double object_heading = getHeading(cam) * M_PI / 180.0;
251 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
252}
253
263inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
264 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
265}
266
267} // namespace etsi_its_cam_ts_msgs::access

◆ getWGSPosConfidenceEllipse()

template<typename PosConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_ts_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_ts_getters.h.

332 {
333#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
334
335#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
336
346inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
347 double object_heading = getHeading(cam) * M_PI / 180.0;
348 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
349}
350
360inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
361 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
362}
363
364} // namespace etsi_its_cam_ts_msgs::access

◆ getWGSPositionConfidenceEllipse()

template<typename PositionConfidenceEllipse>
std::array< double, 4 > etsi_its_cam_ts_msgs::access::getWGSPositionConfidenceEllipse ( const PositionConfidenceEllipse & 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 383 of file cam_ts_getters.h.

416 {
417#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
446}
447
448} // namespace etsi_its_cam_ts_msgs::access

◆ getWGSRefPosConfidence()

const std::array< double, 4 > etsi_its_cam_ts_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 425 of file cam_ts_getters.h.

458 {
459#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
460
461#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
462
472inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
473 double object_heading = getHeading(cam) * M_PI / 180.0;
474 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
475}
476
486inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
487 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
488}
489
490} // namespace etsi_its_cam_ts_msgs::access

◆ getYawRate()

double etsi_its_cam_ts_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 161 of file cam_ts_getters.h.

194 {
195#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
196
197#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
198
208inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
209 double object_heading = getHeading(cam) * M_PI / 180.0;
210 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
211}
212
222inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
223 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
224}
225
226} // namespace etsi_its_cam_ts_msgs::access

◆ getYawRateCDD()

template<typename YawRate>
double etsi_its_cam_ts_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_ts_getters.h.

212 {
213#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
214
215#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
216
226inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
227 double object_heading = getHeading(cam) * M_PI / 180.0;
228 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
229}
230
240inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
241 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
242}
243
244} // namespace etsi_its_cam_ts_msgs::access

◆ getYawRateConfidence()

double etsi_its_cam_ts_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 171 of file cam_ts_getters.h.

204 {
205#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
206
207#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
208
218inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
219 double object_heading = getHeading(cam) * M_PI / 180.0;
220 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
221}
222
232inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
233 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
234}
235
236} // namespace etsi_its_cam_ts_msgs::access

◆ getYawRateConfidenceCDD()

template<typename YawRate, typename YawRateConfidence = decltype(YawRate::yaw_rate_confidence)>
double etsi_its_cam_ts_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_ts_getters.h.

223 {
224#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
225
226#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
227
237inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
238 double object_heading = getHeading(cam) * M_PI / 180.0;
239 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
240}
241
251inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
252 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
253}
254
255} // namespace etsi_its_cam_ts_msgs::access

◆ WGSCovMatrixFromConfidenceEllipse()

std::array< double, 4 > etsi_its_cam_ts_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_ts_getters.h.

306 {
307#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
308
309#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
310
320inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
321 double object_heading = getHeading(cam) * M_PI / 180.0;
322 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
323}
324
334inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
335 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
336}
337
338} // namespace etsi_its_cam_ts_msgs::access