etsi_its_messages v3.4.0
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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 323 of file cam_ts_getters.h.

356 {
357#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
358
359#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
360
370inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
371 double object_heading = getHeading(cam) * M_PI / 180.0;
372 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
373}
374
384inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
385 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
386}
387
388} // 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:48
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:87
etsi_its_cam_ts_msgs::access::getHeading
double getHeading(const CAM &cam)
Get the Heading value of CAM.
Definition cam_ts_getters.h:107
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 95 of file cam_ts_getters.h.

128 {
129#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
130
131#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
132
142inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
143 double object_heading = getHeading(cam) * M_PI / 180.0;
144 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
145}
146
156inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
157 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
158}
159
160} // 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 333 of file cam_ts_getters.h.

366 {
367#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
396}
397
398} // 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 363 of file cam_ts_getters.h.

396 {
397#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
426}
427
428} // 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 303 of file cam_ts_getters.h.

336 {
337#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
338
339#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
340
350inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
351 double object_heading = getHeading(cam) * M_PI / 180.0;
352 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
353}
354
364inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
365 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
366}
367
368} // 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 293 of file cam_ts_getters.h.

326 {
327#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
328
329#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
330
340inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
341 double object_heading = getHeading(cam) * M_PI / 180.0;
342 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
343}
344
354inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
355 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
356}
357
358} // 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 51 of file cam_ts_getters.h.

◆ 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 59 of file cam_ts_getters.h.

◆ 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 107 of file cam_ts_getters.h.

140 {
141#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
142
143#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
144
154inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
155 double object_heading = getHeading(cam) * M_PI / 180.0;
156 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
157}
158
168inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
169 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
170}
171
172} // 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 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

◆ 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 65 of file cam_ts_getters.h.

◆ 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 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

◆ 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 75 of file cam_ts_getters.h.

108 {
109#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
110
111#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
112
122inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
123 double object_heading = getHeading(cam) * M_PI / 180.0;
124 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
125}
126
136inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
137 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
138}
139
140} // 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 247 of file cam_ts_getters.h.

280 {
281#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
282
283#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
284
294inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
295 double object_heading = getHeading(cam) * M_PI / 180.0;
296 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
297}
298
308inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
309 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
310}
311
312} // 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 75 of file cam_ts_getters.h.

108 {
109#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
110
111#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
112
122inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
123 double object_heading = getHeading(cam) * M_PI / 180.0;
124 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
125}
126
136inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
137 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
138}
139
140} // 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 353 of file cam_ts_getters.h.

386 {
387#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
388
389#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
390
400inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
401 double object_heading = getHeading(cam) * M_PI / 180.0;
402 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
403}
404
414inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
415 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
416}
417
418} // 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 85 of file cam_ts_getters.h.

118 {
119#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
120
121#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
122
132inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
133 double object_heading = getHeading(cam) * M_PI / 180.0;
134 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
135}
136
146inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
147 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
148}
149
150} // 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 45 of file cam_ts_getters.h.

◆ 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 209 of file cam_ts_getters.h.

242 {
243#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
272}
273
274} // 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 55 of file cam_ts_getters.h.

◆ 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 220 of file cam_ts_getters.h.

253 {
254#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
255
256#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
257
267inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
268 double object_heading = getHeading(cam) * M_PI / 180.0;
269 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
270}
271
281inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
282 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
283}
284
285} // 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 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

◆ 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 87 of file cam_ts_getters.h.

120 {
121#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
122
123#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
124
134inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
135 double object_heading = getHeading(cam) * M_PI / 180.0;
136 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
137}
138
148inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
149 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
150}
151
152} // 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 48 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}

◆ 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 343 of file cam_ts_getters.h.

376 {
377#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
406}
407
408} // 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 188 of file cam_ts_getters.h.

221 {
222#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
251}
252
253} // 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 198 of file cam_ts_getters.h.

231 {
232#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
261}
262
263} // 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 43 of file cam_ts_getters.h.

◆ 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 67 of file cam_ts_getters.h.

100{
101#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
102
103#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
104
114inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
115 double object_heading = getHeading(cam) * M_PI / 180.0;
116 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
117}
118
128inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
129 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
130}
131
132} // 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 281 of file cam_ts_getters.h.

314 {
315#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
316
317#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
318
328inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
329 double object_heading = getHeading(cam) * M_PI / 180.0;
330 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
331}
332
342inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
343 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
344}
345
346} // 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 268 of file cam_ts_getters.h.

301 {
302#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
303
304#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
305
315inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
316 double object_heading = getHeading(cam) * M_PI / 180.0;
317 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
318}
319
329inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
330 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
331}
332
333} // 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 158 of file cam_ts_getters.h.

191 {
192#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
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 getPositionConfidenceEllipse(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 getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
221}
222
223} // 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 148 of file cam_ts_getters.h.

181 {
182#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
183
184#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
185
195inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
196 double object_heading = getHeading(cam) * M_PI / 180.0;
197 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
198}
199
209inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
210 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
211}
212
213} // 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 177 of file cam_ts_getters.h.

210 {
211#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
212
213#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
214
224inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
225 double object_heading = getHeading(cam) * M_PI / 180.0;
226 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
227}
228
238inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
239 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
240}
241
242} // 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 169 of file cam_ts_getters.h.

202{
203#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
204
205#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
206
216inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
217 double object_heading = getHeading(cam) * M_PI / 180.0;
218 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
219}
220
230inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
231 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
232}
233
234} // 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 116 of file cam_ts_getters.h.

149 {
150#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
151
152#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
153
163inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
164 double object_heading = getHeading(cam) * M_PI / 180.0;
165 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
166}
167
177inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
178 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
179}
180
181} // 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 62 of file cam_ts_getters.h.

62 {
63 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
64}
etsi_its_cam_ts_msgs::access::getWGSPositionConfidenceEllipse
std::array< double, 4 > getWGSPositionConfidenceEllipse(const PositionConfidenceEllipse &position_confidence_ellipse)
Get the covariance matrix of the position confidence ellipse.
Definition cam_ts_getters.h:116

◆ 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 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

◆ 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 138 of file cam_ts_getters.h.

171 {
172#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
173
174#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>
175
185inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
186 double object_heading = getHeading(cam) * M_PI / 180.0;
187 return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
188}
189
199inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
200 return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
201}
202
203} // 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