cam_ts_getters.h

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/*
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Copyright (c) 2023-2025 Institute for Automotive Engineering (ika), RWTH Aachen University
 
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#pragma once
 
namespace etsi_its_cam_ts_msgs::access {
#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>
 
#include <etsi_its_msgs_utils/impl/cam/cam_getters_common.h>

 * where x is the longitudinal axis and y is the lateral axis of the vehicle.
 * 
 * @param cam The CAM message to get the reference position from
 * @return const std::array<double, 4> the covariance matrix, as specified above
 */
inline const std::array<double, 4> getRefPosConfidence(const CAM& cam) {
  double object_heading = getHeading(cam) * M_PI / 180.0;
  return getPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse, object_heading);
}

inline const std::array<double, 4> getWGSRefPosConfidence(const CAM& cam) {
  return getWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse);
}
 
}  // namespace etsi_its_cam_ts_msgs::access