etsi_its_messages v3.1.0
 
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Classes | Macros | Functions
cam_ts_setters.h File Reference

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

#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>

Go to the source code of this file.

Classes

struct  etsi_its_cam_ts_msgs::access::etsi_its_msgs::OneCentimeterHelper< SemiAxisLength, typename >
 
struct  etsi_its_cam_ts_msgs::access::etsi_its_msgs::OneCentimeterHelper< SemiAxisLength, std::void_t< decltype(SemiAxisLength::ONE_CENTIMETER)> >
 

Functions

template<typename T1, typename T2>
void etsi_its_cam_ts_msgs::access::throwIfOutOfRange (const T1 &val, const T2 &min, const T2 &max, const std::string val_desc)
 Throws an exception if a given value is out of a defined range.
 
void etsi_its_cam_ts_msgs::access::throwIfNotPresent (const bool is_present, const std::string val_desc)
 Throws an exception if the given value is not present.
 
uint16_t etsi_its_cam_ts_msgs::access::etsi_its_msgs::getLeapSecondInsertionsSince2004 (const uint64_t unix_seconds)
 Get the leap second insertions since 2004 for given unix seconds.
 
void etsi_its_cam_ts_msgs::access::setTimestampITS (TimestampIts &timestamp_its, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
 Set the TimestampITS object.
 
void etsi_its_cam_ts_msgs::access::setLatitude (Latitude &latitude, const double deg)
 Set the Latitude object.
 
void etsi_its_cam_ts_msgs::access::setLongitude (Longitude &longitude, const double deg)
 Set the Longitude object.
 
void etsi_its_cam_ts_msgs::access::setAltitudeValue (AltitudeValue &altitude, const double value)
 Set the AltitudeValue object.
 
void etsi_its_cam_ts_msgs::access::setAltitude (Altitude &altitude, const double value)
 Set the Altitude object.
 
void etsi_its_cam_ts_msgs::access::setSpeedValue (SpeedValue &speed, const double value)
 Set the SpeedValue object.
 
void etsi_its_cam_ts_msgs::access::setSpeedConfidence (SpeedConfidence &speed_confidence, const double value)
 Set the Speed Confidence object.
 
void etsi_its_cam_ts_msgs::access::setSpeed (Speed &speed, const double value, const double confidence=std::numeric_limits< double >::infinity())
 Set the Speed object.
 
template<typename AccelerationConfidence>
void etsi_its_cam_ts_msgs::access::setAccelerationConfidence (AccelerationConfidence &accel_confidence, const double value)
 Set the Acceleration Confidence object.
 
template<typename T>
void etsi_its_cam_ts_msgs::access::setReferencePosition (T &ref_position, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
 Sets the reference position in the given ReferencePostion object.
 
template<typename T>
void etsi_its_cam_ts_msgs::access::setFromUTMPosition (T &reference_position, const gm::PointStamped &utm_position, const int zone, const bool northp)
 Set the ReferencePosition from a given UTM-Position.
 
template<typename HeadingValue>
void etsi_its_cam_ts_msgs::access::setHeadingValue (HeadingValue &heading, const double value)
 Set the HeadingValue object.
 
template<typename HeadingConfidence>
void etsi_its_cam_ts_msgs::access::setHeadingConfidence (HeadingConfidence &heading_confidence, const double value)
 Set the Heading Confidence object.
 
template<typename Heading, typename HeadingConfidence = decltype(Heading::heading_confidence)>
void etsi_its_cam_ts_msgs::access::setHeadingCDD (Heading &heading, const double value, double confidence=std::numeric_limits< double >::infinity())
 Set the Heading object.
 
template<typename SemiAxisLength>
void etsi_its_cam_ts_msgs::access::setSemiAxis (SemiAxisLength &semi_axis_length, const double length)
 Set the Semi Axis length.
 
template<typename PosConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setPosConfidenceEllipse (PosConfidenceEllipse &position_confidence_ellipse, const double semi_major_axis, const double semi_minor_axis, const double orientation)
 Set the Pos Confidence Ellipse object.
 
std::tuple< double, double, double > etsi_its_cam_ts_msgs::access::confidenceEllipseFromCovMatrix (const std::array< double, 4 > &covariance_matrix, const double object_heading)
 Gets the values needed to set a confidence ellipse from a covariance matrix.
 
std::tuple< double, double, double > etsi_its_cam_ts_msgs::access::confidenceEllipseFromWGSCovMatrix (const std::array< double, 4 > &covariance_matrix)
 Gets the values needed to set a confidence ellipse from a covariance matrix.
 
template<typename PosConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setPosConfidenceEllipse (PosConfidenceEllipse &position_confidence_ellipse, const std::array< double, 4 > &covariance_matrix, const double object_heading)
 Set the Pos Confidence Ellipse object.
 
template<typename PosConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setWGSPosConfidenceEllipse (PosConfidenceEllipse &position_confidence_ellipse, const std::array< double, 4 > &covariance_matrix)
 Set the Pos Confidence Ellipse object.
 
void etsi_its_cam_ts_msgs::access::setStationId (StationId &station_id, const uint32_t id_value)
 Set the Station Id object.
 
void etsi_its_cam_ts_msgs::access::setItsPduHeader (ItsPduHeader &header, const uint8_t message_id, const uint32_t station_id, const uint8_t protocol_version=0)
 Set the Its Pdu Header object.
 
void etsi_its_cam_ts_msgs::access::setStationType (TrafficParticipantType &station_type, const uint8_t value)
 Set the Station Type.
 
void etsi_its_cam_ts_msgs::access::setLongitudinalAccelerationValue (AccelerationValue &accel, const double value)
 Set the LongitudinalAccelerationValue object.
 
void etsi_its_cam_ts_msgs::access::setLongitudinalAcceleration (AccelerationComponent &accel, const double value, const double confidence)
 Set the LongitudinalAcceleration object.
 
void etsi_its_cam_ts_msgs::access::setLateralAccelerationValue (AccelerationValue &accel, const double value)
 Set the LateralAccelerationValue object.
 
void etsi_its_cam_ts_msgs::access::setLateralAcceleration (AccelerationComponent &accel, const double value, const double confidence)
 Set the LateralAcceleration object.
 
template<typename PositionConfidenceEllipse, typename Wgs84AngleValue = decltype(PositionConfidenceEllipse::semi_major_axis_orientation)>
void etsi_its_cam_ts_msgs::access::setPositionConfidenceEllipse (PositionConfidenceEllipse &position_confidence_ellipse, const double semi_major_axis, const double semi_minor_axis, const double orientation)
 Set the Position Confidence Ellipse object.
 
template<typename PositionConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setPositionConfidenceEllipse (PositionConfidenceEllipse &position_confidence_ellipse, const std::array< double, 4 > &covariance_matrix, const double object_heading)
 Set the Position Confidence Ellipse object.
 
template<typename PositionConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setWGSPositionConfidenceEllipse (PositionConfidenceEllipse &position_confidence_ellipse, const std::array< double, 4 > &covariance_matrix)
 Set the Position Confidence Ellipse object.
 
template<typename T>
void etsi_its_cam_ts_msgs::access::setBitString (T &bitstring, const std::vector< bool > &bits)
 Set a Bit String by a vector of bools.
 
void etsi_its_cam_ts_msgs::access::setGenerationDeltaTime (GenerationDeltaTime &generation_delta_time, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
 Set the GenerationDeltaTime-Value.
 
void etsi_its_cam_ts_msgs::access::setGenerationDeltaTime (CAM &cam, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
 Set the Generation Delta Time object.
 
void etsi_its_cam_ts_msgs::access::setStationType (CAM &cam, const uint8_t value)
 Set the StationType for a CAM.
 
void etsi_its_cam_ts_msgs::access::setHeading (CAM &cam, const double heading_val, const double confidence=std::numeric_limits< double >::infinity())
 Set the Heading for a CAM.
 
void etsi_its_cam_ts_msgs::access::setVehicleWidth (VehicleWidth &vehicle_width, const double value)
 Set the VehicleWidth object.
 
void etsi_its_cam_ts_msgs::access::setVehicleLengthValue (VehicleLengthValue &vehicle_length, const double value)
 Set the VehicleLengthValue object.
 
void etsi_its_cam_ts_msgs::access::setVehicleLength (VehicleLength &vehicle_length, const double value)
 Set the VehicleLength object.
 
void etsi_its_cam_ts_msgs::access::setVehicleDimensions (CAM &cam, const double vehicle_length, const double vehicle_width)
 Set the vehicle dimensions.
 
void etsi_its_cam_ts_msgs::access::setSpeed (CAM &cam, const double speed_val, const double confidence=SpeedConfidence::UNAVAILABLE)
 Set the vehicle speed.
 
void etsi_its_cam_ts_msgs::access::setLongitudinalAcceleration (CAM &cam, const double lon_accel, const double confidence=std::numeric_limits< double >::infinity())
 Set the longitudinal acceleration.
 
void etsi_its_cam_ts_msgs::access::setLateralAcceleration (CAM &cam, const double lat_accel, const double confidence=std::numeric_limits< double >::infinity())
 Set the lateral acceleration.
 
void etsi_its_cam_ts_msgs::access::setReferencePosition (CAM &cam, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
 Set the ReferencePosition for a CAM.
 
void etsi_its_cam_ts_msgs::access::setFromUTMPosition (CAM &cam, const gm::PointStamped &utm_position, const int &zone, const bool &northp)
 Set the ReferencePosition of a CAM from a given UTM-Position.
 
void etsi_its_cam_ts_msgs::access::setExteriorLights (ExteriorLights &exterior_lights, const std::vector< bool > &bits)
 Set the Exterior Lights by a vector of bools.
 
void etsi_its_cam_ts_msgs::access::setExteriorLights (CAM &cam, const std::vector< bool > &exterior_lights)
 Set the Exterior Lights by using a vector of bools.
 
void etsi_its_cam_ts_msgs::access::setAccelerationControl (AccelerationControl &acceleration_control, const std::vector< bool > &bits)
 Set the Acceleration Control by a vector of bools.
 
void etsi_its_cam_ts_msgs::access::setDrivingLaneStatus (DrivingLaneStatus &driving_lane_status, const std::vector< bool > &bits)
 Set the Driving Lane Status by a vector of bools.
 
void etsi_its_cam_ts_msgs::access::setSpecialTransportType (SpecialTransportType &special_transport_type, const std::vector< bool > &bits)
 Set the Special Transport Type by a vector of bools.
 
void etsi_its_cam_ts_msgs::access::setLightBarSirenInUse (LightBarSirenInUse &light_bar_siren_in_use, const std::vector< bool > &bits)
 Set the Lightbar Siren In Use by a vector of bools.
 
void etsi_its_cam_ts_msgs::access::setEmergencyPriority (EmergencyPriority &emergency_priority, const std::vector< bool > &bits)
 Set the Emergency Priority by a vector of bools.
 
void etsi_its_cam_ts_msgs::access::setItsPduHeader (CAM &cam, const uint32_t station_id, const uint8_t protocol_version=0)
 Set the ItsPduHeader-object for a CAM.
 
void etsi_its_cam_ts_msgs::access::setRefPosConfidence (CAM &cam, const std::array< double, 4 > &covariance_matrix, const double object_heading)
 Set the confidence of the reference position.
 
void etsi_its_cam_ts_msgs::access::setWGSRefPosConfidence (CAM &cam, const std::array< double, 4 > &covariance_matrix)
 Set the confidence of the reference position.
 

Detailed Description

Setter functions for the ETSI ITS CAM (TS)

Definition in file cam_ts_setters.h.

Function Documentation

◆ confidenceEllipseFromCovMatrix()

std::tuple< double, double, double > etsi_its_cam_ts_msgs::access::confidenceEllipseFromCovMatrix ( const std::array< double, 4 > & covariance_matrix,
const double object_heading )
inline

Gets the values needed to set a confidence ellipse from a covariance matrix.

Parameters
covariance_matrixThe four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the object (x = longitudinal, y = lateral)
object_headingThe heading of the object in rad, with respect to WGS84
Returns
std::tuple<double, double, double> semi_major_axis [m], semi_minor_axis [m], orientation [deg], with respect to WGS84

Definition at line 376 of file cam_ts_setters.h.

◆ confidenceEllipseFromWGSCovMatrix()

std::tuple< double, double, double > etsi_its_cam_ts_msgs::access::confidenceEllipseFromWGSCovMatrix ( const std::array< double, 4 > & covariance_matrix)
inline

Gets the values needed to set a confidence ellipse from a covariance matrix.

Parameters
covariance_matrixThe four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the WGS axes (x = North, y = East)
object_headingThe heading of the object in rad, with respect to WGS84
Returns
std::tuple<double, double, double> semi_major_axis [m], semi_minor_axis [m], orientation [deg], with respect to WGS84

Definition at line 417 of file cam_ts_setters.h.

450 {
451
452#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
453
454#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
455
463inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
464 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
465}
466
476inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
477 // First ensure, that the object has the correct heading by setting its value
478 double orientation = object_heading * 180 / M_PI; // Convert to degrees
479 // Normalize to [0, 360)
480 orientation = std::fmod(orientation + 360, 360);
481 while (orientation < 0) {
482 orientation += 360;
483 }
484 while (orientation >= 360) {
485 orientation -= 360;
486 }
487 setHeading(cam, orientation);
488 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
489 covariance_matrix, object_heading);
490}
491
500inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
501 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
502 covariance_matrix);
503}
504
505
506} // namespace etsi_its_cam_ts_msgs::access
cam_setters_common.h
Common setter functions for the ETSI ITS CAM (EN and TS)
etsi_its_cam_ts_msgs::access::setWGSRefPosConfidence
void setWGSRefPosConfidence(CAM &cam, const std::array< double, 4 > &covariance_matrix)
Set the confidence of the reference position.
Definition cam_ts_setters.h:384
etsi_its_cam_ts_msgs::access::setPositionConfidenceEllipse
void setPositionConfidenceEllipse(PositionConfidenceEllipse &position_confidence_ellipse, const double semi_major_axis, const double semi_minor_axis, const double orientation)
Set the Position Confidence Ellipse object.
Definition cam_ts_setters.h:174
etsi_its_cam_ts_msgs::access::setHeading
void setHeading(CAM &cam, const double heading_val, const double confidence=std::numeric_limits< double >::infinity())
Set the Heading for a CAM.
Definition cam_ts_setters.h:124
etsi_its_cam_ts_msgs::access::setWGSPositionConfidenceEllipse
void setWGSPositionConfidenceEllipse(PositionConfidenceEllipse &position_confidence_ellipse, const std::array< double, 4 > &covariance_matrix)
Set the Position Confidence Ellipse object.
Definition cam_ts_setters.h:206
etsi_its_cam_ts_msgs::access::setItsPduHeader
void setItsPduHeader(ItsPduHeader &header, const uint8_t message_id, const uint32_t station_id, const uint8_t protocol_version=0)
Set the Its Pdu Header object.
Definition cam_ts_setters.h:85
cdd_v2-1-1_setters.h
Setter functions for the ETSI ITS Common Data Dictionary (CDD) v2.1.1.

◆ getLeapSecondInsertionsSince2004()

uint16_t etsi_its_cam_ts_msgs::access::etsi_its_msgs::getLeapSecondInsertionsSince2004 ( const uint64_t unix_seconds)
inline

Get the leap second insertions since 2004 for given unix seconds.

Parameters
unix_secondsthe current unix seconds for that the leap second insertions since 2004 shall be provided
Returns
uint16_t the number of leap second insertions since 2004 for unix_seconds

Definition at line 61 of file cam_ts_access.h.

117 {
118#include <etsi_its_msgs_utils/impl/cam/cam_utils.h>
119}
cam_utils.h
Utility functions for the ETSI ITS CAM (EN and TS)

◆ setAccelerationConfidence()

template<typename AccelerationConfidence>
void etsi_its_cam_ts_msgs::access::setAccelerationConfidence ( AccelerationConfidence & accel_confidence,
const double value )
inline

Set the Acceleration Confidence object.

Parameters
accel_confidenceobject to set
valuestandard deviation in m/s^2 as decimal number

Definition at line 220 of file cam_ts_setters.h.

253 {
254
255#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
256
257#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
258
266inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
267 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
268}
269
279inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
280 // First ensure, that the object has the correct heading by setting its value
281 double orientation = object_heading * 180 / M_PI; // Convert to degrees
282 // Normalize to [0, 360)
283 orientation = std::fmod(orientation + 360, 360);
284 while (orientation < 0) {
285 orientation += 360;
286 }
287 while (orientation >= 360) {
288 orientation -= 360;
289 }
290 setHeading(cam, orientation);
291 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
292 covariance_matrix, object_heading);
293}
294
303inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
304 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
305 covariance_matrix);
306}
307
308
309} // namespace etsi_its_cam_ts_msgs::access

◆ setAccelerationControl()

void etsi_its_cam_ts_msgs::access::setAccelerationControl ( AccelerationControl & acceleration_control,
const std::vector< bool > & bits )
inline

Set the Acceleration Control by a vector of bools.

Parameters
acceleration_control
bits

Definition at line 294 of file cam_ts_setters.h.

327 {
328
329#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
330
331#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
332
340inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
341 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
342}
343
353inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
354 // First ensure, that the object has the correct heading by setting its value
355 double orientation = object_heading * 180 / M_PI; // Convert to degrees
356 // Normalize to [0, 360)
357 orientation = std::fmod(orientation + 360, 360);
358 while (orientation < 0) {
359 orientation += 360;
360 }
361 while (orientation >= 360) {
362 orientation -= 360;
363 }
364 setHeading(cam, orientation);
365 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
366 covariance_matrix, object_heading);
367}
368
377inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
378 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
379 covariance_matrix);
380}
381
382
383} // namespace etsi_its_cam_ts_msgs::access

◆ setAltitude()

void etsi_its_cam_ts_msgs::access::setAltitude ( Altitude & altitude,
const double value )
inline

Set the Altitude object.

AltitudeConfidence is set to UNAVAILABLE

Parameters
altitudeobject to set
valueAltitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 166 of file cam_ts_setters.h.

199 {
200
201#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
202
203#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
204
212inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
213 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
214}
215
225inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
226 // First ensure, that the object has the correct heading by setting its value
227 double orientation = object_heading * 180 / M_PI; // Convert to degrees
228 // Normalize to [0, 360)
229 orientation = std::fmod(orientation + 360, 360);
230 while (orientation < 0) {
231 orientation += 360;
232 }
233 while (orientation >= 360) {
234 orientation -= 360;
235 }
236 setHeading(cam, orientation);
237 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
238 covariance_matrix, object_heading);
239}
240
249inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
250 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
251 covariance_matrix);
252}
253
254
255} // namespace etsi_its_cam_ts_msgs::access

◆ setAltitudeValue()

void etsi_its_cam_ts_msgs::access::setAltitudeValue ( AltitudeValue & altitude,
const double value )
inline

Set the AltitudeValue object.

Parameters
altitudeobject to set
valueAltitudeValue value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 147 of file cam_ts_setters.h.

180 {
181
182#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
183
184#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
185
193inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
194 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
195}
196
206inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
207 // First ensure, that the object has the correct heading by setting its value
208 double orientation = object_heading * 180 / M_PI; // Convert to degrees
209 // Normalize to [0, 360)
210 orientation = std::fmod(orientation + 360, 360);
211 while (orientation < 0) {
212 orientation += 360;
213 }
214 while (orientation >= 360) {
215 orientation -= 360;
216 }
217 setHeading(cam, orientation);
218 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
219 covariance_matrix, object_heading);
220}
221
230inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
231 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
232 covariance_matrix);
233}
234
235
236} // namespace etsi_its_cam_ts_msgs::access

◆ setBitString()

template<typename T>
void etsi_its_cam_ts_msgs::access::setBitString ( T & bitstring,
const std::vector< bool > & bits )
inline

Set a Bit String by a vector of bools.

Template Parameters
T
Parameters
bitstringBitString to set
bitsvector of bools

Definition at line 44 of file cam_ts_setters.h.

47 {
48 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
49}
50
60inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
61 // First ensure, that the object has the correct heading by setting its value
62 double orientation = object_heading * 180 / M_PI; // Convert to degrees
63 // Normalize to [0, 360)
64 orientation = std::fmod(orientation + 360, 360);
65 while (orientation < 0) {
66 orientation += 360;
67 }
68 while (orientation >= 360) {
69 orientation -= 360;
70 }

◆ setDrivingLaneStatus()

void etsi_its_cam_ts_msgs::access::setDrivingLaneStatus ( DrivingLaneStatus & driving_lane_status,
const std::vector< bool > & bits )
inline

Set the Driving Lane Status by a vector of bools.

Parameters
driving_lane_status
bits

Definition at line 304 of file cam_ts_setters.h.

337 {
338
339#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
340
341#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
342
350inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
351 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
352}
353
363inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
364 // First ensure, that the object has the correct heading by setting its value
365 double orientation = object_heading * 180 / M_PI; // Convert to degrees
366 // Normalize to [0, 360)
367 orientation = std::fmod(orientation + 360, 360);
368 while (orientation < 0) {
369 orientation += 360;
370 }
371 while (orientation >= 360) {
372 orientation -= 360;
373 }
374 setHeading(cam, orientation);
375 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
376 covariance_matrix, object_heading);
377}
378
387inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
388 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
389 covariance_matrix);
390}
391
392
393} // namespace etsi_its_cam_ts_msgs::access

◆ setEmergencyPriority()

void etsi_its_cam_ts_msgs::access::setEmergencyPriority ( EmergencyPriority & emergency_priority,
const std::vector< bool > & bits )
inline

Set the Emergency Priority by a vector of bools.

Parameters
emergency_priority
bits

Definition at line 334 of file cam_ts_setters.h.

367 {
368
369#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
370
371#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
372
380inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
381 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
382}
383
393inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
394 // First ensure, that the object has the correct heading by setting its value
395 double orientation = object_heading * 180 / M_PI; // Convert to degrees
396 // Normalize to [0, 360)
397 orientation = std::fmod(orientation + 360, 360);
398 while (orientation < 0) {
399 orientation += 360;
400 }
401 while (orientation >= 360) {
402 orientation -= 360;
403 }
404 setHeading(cam, orientation);
405 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
406 covariance_matrix, object_heading);
407}
408
417inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
418 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
419 covariance_matrix);
420}
421
422
423} // namespace etsi_its_cam_ts_msgs::access

◆ setExteriorLights() [1/2]

void etsi_its_cam_ts_msgs::access::setExteriorLights ( CAM & cam,
const std::vector< bool > & exterior_lights )
inline

Set the Exterior Lights by using a vector of bools.

Parameters
camCAM to set the exterior lights
exterior_lightsvector of bools to set the exterior lights

Definition at line 269 of file cam_ts_setters.h.

302 {
303
304#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
305
306#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
307
315inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
316 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
317}
318
328inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
329 // First ensure, that the object has the correct heading by setting its value
330 double orientation = object_heading * 180 / M_PI; // Convert to degrees
331 // Normalize to [0, 360)
332 orientation = std::fmod(orientation + 360, 360);
333 while (orientation < 0) {
334 orientation += 360;
335 }
336 while (orientation >= 360) {
337 orientation -= 360;
338 }
339 setHeading(cam, orientation);
340 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
341 covariance_matrix, object_heading);
342}
343
352inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
353 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
354 covariance_matrix);
355}
356
357
358} // namespace etsi_its_cam_ts_msgs::access

◆ setExteriorLights() [2/2]

void etsi_its_cam_ts_msgs::access::setExteriorLights ( ExteriorLights & exterior_lights,
const std::vector< bool > & bits )
inline

Set the Exterior Lights by a vector of bools.

Parameters
exterior_lights
bits

Definition at line 259 of file cam_ts_setters.h.

292 {
293
294#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
295
296#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
297
305inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
306 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
307}
308
318inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
319 // First ensure, that the object has the correct heading by setting its value
320 double orientation = object_heading * 180 / M_PI; // Convert to degrees
321 // Normalize to [0, 360)
322 orientation = std::fmod(orientation + 360, 360);
323 while (orientation < 0) {
324 orientation += 360;
325 }
326 while (orientation >= 360) {
327 orientation -= 360;
328 }
329 setHeading(cam, orientation);
330 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
331 covariance_matrix, object_heading);
332}
333
342inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
343 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
344 covariance_matrix);
345}
346
347
348} // namespace etsi_its_cam_ts_msgs::access

◆ setFromUTMPosition() [1/2]

void etsi_its_cam_ts_msgs::access::setFromUTMPosition ( CAM & cam,
const gm::PointStamped & utm_position,
const int & zone,
const bool & northp )
inline

Set the ReferencePosition of a CAM from a given UTM-Position.

The position is transformed to latitude and longitude by using GeographicLib::UTMUPS The z-Coordinate is directly used as altitude value The frame_id of the given utm_position must be set to 'utm_<zone><N/S>'

Parameters
[out]camCAM for which to set the ReferencePosition
[in]utm_positiongeometry_msgs::PointStamped describing the given utm position
[in]zonethe UTM zone (zero means UPS) of the given position
[in]northphemisphere (true means north, false means south)

Definition at line 249 of file cam_ts_setters.h.

282 {
283
284#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
285
286#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
287
295inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
296 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
297}
298
308inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
309 // First ensure, that the object has the correct heading by setting its value
310 double orientation = object_heading * 180 / M_PI; // Convert to degrees
311 // Normalize to [0, 360)
312 orientation = std::fmod(orientation + 360, 360);
313 while (orientation < 0) {
314 orientation += 360;
315 }
316 while (orientation >= 360) {
317 orientation -= 360;
318 }
319 setHeading(cam, orientation);
320 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
321 covariance_matrix, object_heading);
322}
323
332inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
333 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
334 covariance_matrix);
335}
336
337
338} // namespace etsi_its_cam_ts_msgs::access

◆ setFromUTMPosition() [2/2]

template<typename T>
void etsi_its_cam_ts_msgs::access::setFromUTMPosition ( T & reference_position,
const gm::PointStamped & utm_position,
const int zone,
const bool northp )
inline

Set the ReferencePosition from a given UTM-Position.

The position is transformed to latitude and longitude by using GeographicLib::UTMUPS The z-Coordinate is directly used as altitude value The frame_id of the given utm_position must be set to 'utm_<zone><N/S>'

Parameters
[out]reference_positionReferencePostion or ReferencePositionWithConfidence to set
[in]utm_positiongeometry_msgs::PointStamped describing the given utm position
[in]zonethe UTM zone (zero means UPS) of the given position
[in]northphemisphere (true means north, false means south)

Definition at line 268 of file cam_ts_setters.h.

301 {
302
303#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
304
305#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
306
314inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
315 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
316}
317
327inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
328 // First ensure, that the object has the correct heading by setting its value
329 double orientation = object_heading * 180 / M_PI; // Convert to degrees
330 // Normalize to [0, 360)
331 orientation = std::fmod(orientation + 360, 360);
332 while (orientation < 0) {
333 orientation += 360;
334 }
335 while (orientation >= 360) {
336 orientation -= 360;
337 }
338 setHeading(cam, orientation);
339 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
340 covariance_matrix, object_heading);
341}
342
351inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
352 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
353 covariance_matrix);
354}
355
356
357} // namespace etsi_its_cam_ts_msgs::access

◆ setGenerationDeltaTime() [1/2]

void etsi_its_cam_ts_msgs::access::setGenerationDeltaTime ( CAM & cam,
const uint64_t unix_nanosecs,
const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second )
inline

Set the Generation Delta Time object.

Parameters
camCAM to set the GenerationDeltaTime-Value for
unix_nanosecsTimestamp in unix-nanoseconds to set the GenerationDeltaTime-Value from
n_leap_secondsNumber of leap seconds since 2004 for the given timestamp (Defaults to the todays number of leap seconds since 2004.)

Definition at line 98 of file cam_ts_setters.h.

131 {
132
133#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
134
135#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
136
144inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
145 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
146}
147
157inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
158 // First ensure, that the object has the correct heading by setting its value
159 double orientation = object_heading * 180 / M_PI; // Convert to degrees
160 // Normalize to [0, 360)
161 orientation = std::fmod(orientation + 360, 360);
162 while (orientation < 0) {
163 orientation += 360;
164 }
165 while (orientation >= 360) {
166 orientation -= 360;
167 }
168 setHeading(cam, orientation);
169 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
170 covariance_matrix, object_heading);
171}
172
181inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
182 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
183 covariance_matrix);
184}
185
186
187} // namespace etsi_its_cam_ts_msgs::access

◆ setGenerationDeltaTime() [2/2]

void etsi_its_cam_ts_msgs::access::setGenerationDeltaTime ( GenerationDeltaTime & generation_delta_time,
const uint64_t unix_nanosecs,
const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second )
inline

Set the GenerationDeltaTime-Value.

Parameters
generation_delta_timeGenerationDeltaTime to set the GenerationDeltaTime-Value for
unix_nanosecsTimestamp in unix-nanoseconds to set the GenerationDeltaTime-Value from
n_leap_secondsNumber of leap seconds since 2004 for the given timestamp (Defaults to the todays number of leap seconds since 2004.)

Definition at line 81 of file cam_ts_setters.h.

84 {
85 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
86 covariance_matrix);
87}
88
89

◆ setHeading()

void etsi_its_cam_ts_msgs::access::setHeading ( CAM & cam,
const double heading_val,
const double confidence = std::numeric_limits<double>::infinity() )
inline

Set the Heading for a CAM.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West HeadingConfidence is set to UNAVAILABLE

Parameters
camCAM to set the ReferencePosition
valueHeading value in degree as decimal number
confidencestandard deviation of heading in degree as decimal number (default: infinity, mapping to HeadingConfidence::UNAVAILABLE)

Definition at line 124 of file cam_ts_setters.h.

157 {
158
159#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
160
161#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
162
170inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
171 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
172}
173
183inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
184 // First ensure, that the object has the correct heading by setting its value
185 double orientation = object_heading * 180 / M_PI; // Convert to degrees
186 // Normalize to [0, 360)
187 orientation = std::fmod(orientation + 360, 360);
188 while (orientation < 0) {
189 orientation += 360;
190 }
191 while (orientation >= 360) {
192 orientation -= 360;
193 }
194 setHeading(cam, orientation);
195 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
196 covariance_matrix, object_heading);
197}
198
207inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
208 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
209 covariance_matrix);
210}
211
212
213} // namespace etsi_its_cam_ts_msgs::access

◆ setHeadingCDD()

template<typename Heading, typename HeadingConfidence = decltype(Heading::heading_confidence)>
void etsi_its_cam_ts_msgs::access::setHeadingCDD ( Heading & heading,
const double value,
double confidence = std::numeric_limits<double>::infinity() )

Set the Heading object.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West HeadingConfidence is set to UNAVAILABLE

Parameters
headingobject to set
valueHeading value in degree as decimal number
confidencestandard deviation of heading in degree as decimal number (default: infinity, mapping to HeadingConfidence::UNAVAILABLE)

Definition at line 327 of file cam_ts_setters.h.

360 {
361
362#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
363
364#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
365
373inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
374 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
375}
376
386inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
387 // First ensure, that the object has the correct heading by setting its value
388 double orientation = object_heading * 180 / M_PI; // Convert to degrees
389 // Normalize to [0, 360)
390 orientation = std::fmod(orientation + 360, 360);
391 while (orientation < 0) {
392 orientation += 360;
393 }
394 while (orientation >= 360) {
395 orientation -= 360;
396 }
397 setHeading(cam, orientation);
398 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
399 covariance_matrix, object_heading);
400}
401
410inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
411 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
412 covariance_matrix);
413}
414
415
416} // namespace etsi_its_cam_ts_msgs::access

◆ setHeadingConfidence()

template<typename HeadingConfidence>
void etsi_its_cam_ts_msgs::access::setHeadingConfidence ( HeadingConfidence & heading_confidence,
const double value )
inline

Set the Heading Confidence object.

Parameters
heading_confidenceobject to set
valuestandard deviation of heading in degree as decimal number

Definition at line 306 of file cam_ts_setters.h.

339 {
340
341#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
342
343#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
344
352inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
353 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
354}
355
365inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
366 // First ensure, that the object has the correct heading by setting its value
367 double orientation = object_heading * 180 / M_PI; // Convert to degrees
368 // Normalize to [0, 360)
369 orientation = std::fmod(orientation + 360, 360);
370 while (orientation < 0) {
371 orientation += 360;
372 }
373 while (orientation >= 360) {
374 orientation -= 360;
375 }
376 setHeading(cam, orientation);
377 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
378 covariance_matrix, object_heading);
379}
380
389inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
390 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
391 covariance_matrix);
392}
393
394
395} // namespace etsi_its_cam_ts_msgs::access

◆ setHeadingValue()

template<typename HeadingValue>
void etsi_its_cam_ts_msgs::access::setHeadingValue ( HeadingValue & heading,
const double value )
inline

Set the HeadingValue object.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters
headingobject to set
valueHeading value in degree as decimal number

Definition at line 293 of file cam_ts_setters.h.

326 {
327
328#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
329
330#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
331
339inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
340 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
341}
342
352inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
353 // First ensure, that the object has the correct heading by setting its value
354 double orientation = object_heading * 180 / M_PI; // Convert to degrees
355 // Normalize to [0, 360)
356 orientation = std::fmod(orientation + 360, 360);
357 while (orientation < 0) {
358 orientation += 360;
359 }
360 while (orientation >= 360) {
361 orientation -= 360;
362 }
363 setHeading(cam, orientation);
364 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
365 covariance_matrix, object_heading);
366}
367
376inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
377 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
378 covariance_matrix);
379}
380
381
382} // namespace etsi_its_cam_ts_msgs::access

◆ setItsPduHeader() [1/2]

void etsi_its_cam_ts_msgs::access::setItsPduHeader ( CAM & cam,
const uint32_t station_id,
const uint8_t protocol_version = 0 )
inline

Set the ItsPduHeader-object for a CAM.

Parameters
camCAM-Message to set the ItsPduHeader
station_id
protocol_version

Definition at line 347 of file cam_ts_setters.h.

380 {
381
382#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
383
384#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
385
393inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
394 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
395}
396
406inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
407 // First ensure, that the object has the correct heading by setting its value
408 double orientation = object_heading * 180 / M_PI; // Convert to degrees
409 // Normalize to [0, 360)
410 orientation = std::fmod(orientation + 360, 360);
411 while (orientation < 0) {
412 orientation += 360;
413 }
414 while (orientation >= 360) {
415 orientation -= 360;
416 }
417 setHeading(cam, orientation);
418 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
419 covariance_matrix, object_heading);
420}
421
430inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
431 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
432 covariance_matrix);
433}
434
435
436} // namespace etsi_its_cam_ts_msgs::access

◆ setItsPduHeader() [2/2]

void etsi_its_cam_ts_msgs::access::setItsPduHeader ( ItsPduHeader & header,
const uint8_t message_id,
const uint32_t station_id,
const uint8_t protocol_version = 0 )
inline

Set the Its Pdu Header object.

Parameters
headerItsPduHeader to be set
message_idID of the message
station_id
protocol_version

Definition at line 85 of file cam_ts_setters.h.

◆ setLateralAcceleration() [1/2]

void etsi_its_cam_ts_msgs::access::setLateralAcceleration ( AccelerationComponent & accel,
const double value,
const double confidence )
inline

Set the LateralAcceleration object.

AccelerationConfidence is set to UNAVAILABLE

Parameters
accelobject to set
valueLaterallAccelerationValue in m/s^2 as decimal number (left is positive)

Definition at line 160 of file cam_ts_setters.h.

193 {
194
195#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
196
197#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
198
206inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
207 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
208}
209
219inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
220 // First ensure, that the object has the correct heading by setting its value
221 double orientation = object_heading * 180 / M_PI; // Convert to degrees
222 // Normalize to [0, 360)
223 orientation = std::fmod(orientation + 360, 360);
224 while (orientation < 0) {
225 orientation += 360;
226 }
227 while (orientation >= 360) {
228 orientation -= 360;
229 }
230 setHeading(cam, orientation);
231 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
232 covariance_matrix, object_heading);
233}
234
243inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
244 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
245 covariance_matrix);
246}
247
248
249} // namespace etsi_its_cam_ts_msgs::access

◆ setLateralAcceleration() [2/2]

void etsi_its_cam_ts_msgs::access::setLateralAcceleration ( CAM & cam,
const double lat_accel,
const double confidence = std::numeric_limits<double>::infinity() )
inline

Set the lateral acceleration.

Parameters
camCAM to set the acceleration value s
lat_accellateral acceleration to set in m/s^2 as decimal number (left is positiv), if not available use 16.1 m/s^2
confidencestandard deviation of the lateral acceleration in m/s^2 as decimal number Default is infinity, mapping to AccelerationConfidence::UNAVAILABLE

Definition at line 213 of file cam_ts_setters.h.

246 {
247
248#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
249
250#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
251
259inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
260 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
261}
262
272inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
273 // First ensure, that the object has the correct heading by setting its value
274 double orientation = object_heading * 180 / M_PI; // Convert to degrees
275 // Normalize to [0, 360)
276 orientation = std::fmod(orientation + 360, 360);
277 while (orientation < 0) {
278 orientation += 360;
279 }
280 while (orientation >= 360) {
281 orientation -= 360;
282 }
283 setHeading(cam, orientation);
284 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
285 covariance_matrix, object_heading);
286}
287
296inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
297 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
298 covariance_matrix);
299}
300
301
302} // namespace etsi_its_cam_ts_msgs::access

◆ setLateralAccelerationValue()

void etsi_its_cam_ts_msgs::access::setLateralAccelerationValue ( AccelerationValue & accel,
const double value )
inline

Set the LateralAccelerationValue object.

Parameters
accelobject to set
valueLateralAccelerationValue in m/s^2 as decimal number (left is positive)

Definition at line 141 of file cam_ts_setters.h.

174 {
175
176#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
177
178#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
179
187inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
188 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
189}
190
200inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
201 // First ensure, that the object has the correct heading by setting its value
202 double orientation = object_heading * 180 / M_PI; // Convert to degrees
203 // Normalize to [0, 360)
204 orientation = std::fmod(orientation + 360, 360);
205 while (orientation < 0) {
206 orientation += 360;
207 }
208 while (orientation >= 360) {
209 orientation -= 360;
210 }
211 setHeading(cam, orientation);
212 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
213 covariance_matrix, object_heading);
214}
215
224inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
225 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
226 covariance_matrix);
227}
228
229
230} // namespace etsi_its_cam_ts_msgs::access

◆ setLatitude()

void etsi_its_cam_ts_msgs::access::setLatitude ( Latitude & latitude,
const double deg )
inline

Set the Latitude object.

Parameters
latitudeobject to set
degLatitude value in degree as decimal number

Definition at line 123 of file cam_ts_setters.h.

156 {
157
158#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
159
160#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
161
169inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
170 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
171}
172
182inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
183 // First ensure, that the object has the correct heading by setting its value
184 double orientation = object_heading * 180 / M_PI; // Convert to degrees
185 // Normalize to [0, 360)
186 orientation = std::fmod(orientation + 360, 360);
187 while (orientation < 0) {
188 orientation += 360;
189 }
190 while (orientation >= 360) {
191 orientation -= 360;
192 }
193 setHeading(cam, orientation);
194 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
195 covariance_matrix, object_heading);
196}
197
206inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
207 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
208 covariance_matrix);
209}
210
211
212} // namespace etsi_its_cam_ts_msgs::access

◆ setLightBarSirenInUse()

void etsi_its_cam_ts_msgs::access::setLightBarSirenInUse ( LightBarSirenInUse & light_bar_siren_in_use,
const std::vector< bool > & bits )
inline

Set the Lightbar Siren In Use by a vector of bools.

Parameters
light_bar_siren_in_use
bits

Definition at line 324 of file cam_ts_setters.h.

357 {
358
359#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
360
361#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
362
370inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
371 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
372}
373
383inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
384 // First ensure, that the object has the correct heading by setting its value
385 double orientation = object_heading * 180 / M_PI; // Convert to degrees
386 // Normalize to [0, 360)
387 orientation = std::fmod(orientation + 360, 360);
388 while (orientation < 0) {
389 orientation += 360;
390 }
391 while (orientation >= 360) {
392 orientation -= 360;
393 }
394 setHeading(cam, orientation);
395 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
396 covariance_matrix, object_heading);
397}
398
407inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
408 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
409 covariance_matrix);
410}
411
412
413} // namespace etsi_its_cam_ts_msgs::access

◆ setLongitude()

void etsi_its_cam_ts_msgs::access::setLongitude ( Longitude & longitude,
const double deg )
inline

Set the Longitude object.

Parameters
longitudeobject to set
degLongitude value in degree as decimal number

Definition at line 135 of file cam_ts_setters.h.

168 {
169
170#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
171
172#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
173
181inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
182 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
183}
184
194inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
195 // First ensure, that the object has the correct heading by setting its value
196 double orientation = object_heading * 180 / M_PI; // Convert to degrees
197 // Normalize to [0, 360)
198 orientation = std::fmod(orientation + 360, 360);
199 while (orientation < 0) {
200 orientation += 360;
201 }
202 while (orientation >= 360) {
203 orientation -= 360;
204 }
205 setHeading(cam, orientation);
206 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
207 covariance_matrix, object_heading);
208}
209
218inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
219 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
220 covariance_matrix);
221}
222
223
224} // namespace etsi_its_cam_ts_msgs::access

◆ setLongitudinalAcceleration() [1/2]

void etsi_its_cam_ts_msgs::access::setLongitudinalAcceleration ( AccelerationComponent & accel,
const double value,
const double confidence )
inline

Set the LongitudinalAcceleration object.

AccelerationConfidence is set to UNAVAILABLE

Parameters
accelobject to set
valueLongitudinalAccelerationValue in m/s^2 as decimal number (braking is negative)

Definition at line 130 of file cam_ts_setters.h.

163 {
164
165#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
166
167#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
168
176inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
177 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
178}
179
189inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
190 // First ensure, that the object has the correct heading by setting its value
191 double orientation = object_heading * 180 / M_PI; // Convert to degrees
192 // Normalize to [0, 360)
193 orientation = std::fmod(orientation + 360, 360);
194 while (orientation < 0) {
195 orientation += 360;
196 }
197 while (orientation >= 360) {
198 orientation -= 360;
199 }
200 setHeading(cam, orientation);
201 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
202 covariance_matrix, object_heading);
203}
204
213inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
214 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
215 covariance_matrix);
216}
217
218
219} // namespace etsi_its_cam_ts_msgs::access

◆ setLongitudinalAcceleration() [2/2]

void etsi_its_cam_ts_msgs::access::setLongitudinalAcceleration ( CAM & cam,
const double lon_accel,
const double confidence = std::numeric_limits<double>::infinity() )
inline

Set the longitudinal acceleration.

Parameters
camCAM to set the acceleration value s
lon_accellongitudinal acceleration to set in m/s^2 as decimal number (braking is negative), if not available use 16.1 m/s^2
confidencestandard deviation of the longitudinal acceleration in m/s^2 as decimal number Default is infinity, mapping to AccelerationConfidence::UNAVAILABLE

Definition at line 199 of file cam_ts_setters.h.

232 {
233
234#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
235
236#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
237
245inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
246 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
247}
248
258inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
259 // First ensure, that the object has the correct heading by setting its value
260 double orientation = object_heading * 180 / M_PI; // Convert to degrees
261 // Normalize to [0, 360)
262 orientation = std::fmod(orientation + 360, 360);
263 while (orientation < 0) {
264 orientation += 360;
265 }
266 while (orientation >= 360) {
267 orientation -= 360;
268 }
269 setHeading(cam, orientation);
270 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
271 covariance_matrix, object_heading);
272}
273
282inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
283 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
284 covariance_matrix);
285}
286
287
288} // namespace etsi_its_cam_ts_msgs::access

◆ setLongitudinalAccelerationValue()

void etsi_its_cam_ts_msgs::access::setLongitudinalAccelerationValue ( AccelerationValue & accel,
const double value )
inline

Set the LongitudinalAccelerationValue object.

Parameters
accelobject to set
valueLongitudinalAccelerationValue in m/s^2 as decimal number (braking is negative)

Definition at line 111 of file cam_ts_setters.h.

144 {
145
146#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
147
148#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
149
157inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
158 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
159}
160
170inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
171 // First ensure, that the object has the correct heading by setting its value
172 double orientation = object_heading * 180 / M_PI; // Convert to degrees
173 // Normalize to [0, 360)
174 orientation = std::fmod(orientation + 360, 360);
175 while (orientation < 0) {
176 orientation += 360;
177 }
178 while (orientation >= 360) {
179 orientation -= 360;
180 }
181 setHeading(cam, orientation);
182 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
183 covariance_matrix, object_heading);
184}
185
194inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
195 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
196 covariance_matrix);
197}
198
199
200} // namespace etsi_its_cam_ts_msgs::access

◆ setPosConfidenceEllipse() [1/2]

template<typename PosConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setPosConfidenceEllipse ( PosConfidenceEllipse & position_confidence_ellipse,
const double semi_major_axis,
const double semi_minor_axis,
const double orientation )
inline

Set the Pos Confidence Ellipse object.

Parameters
[out]position_confidence_ellipseThe PosConfidenceEllipse to set
[in]semi_major_axislength of the semi-major axis in meters
[in]semi_minor_axislength of the semi-minor axis in meters
[in]orientationof the semi-major axis in degrees, with respect to WGS84

Definition at line 360 of file cam_ts_setters.h.

393 {
394
395#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
396
397#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
398
406inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
407 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
408}
409
419inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
420 // First ensure, that the object has the correct heading by setting its value
421 double orientation = object_heading * 180 / M_PI; // Convert to degrees
422 // Normalize to [0, 360)
423 orientation = std::fmod(orientation + 360, 360);
424 while (orientation < 0) {
425 orientation += 360;
426 }
427 while (orientation >= 360) {
428 orientation -= 360;
429 }
430 setHeading(cam, orientation);
431 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
432 covariance_matrix, object_heading);
433}
434
443inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
444 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
445 covariance_matrix);
446}
447
448
449} // namespace etsi_its_cam_ts_msgs::access

◆ setPosConfidenceEllipse() [2/2]

template<typename PosConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setPosConfidenceEllipse ( PosConfidenceEllipse & position_confidence_ellipse,
const std::array< double, 4 > & covariance_matrix,
const double object_heading )
inline

Set the Pos Confidence Ellipse object.

Parameters
position_confidence_ellipse
covariance_matrixThe four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the object (x = longitudinal, y = lateral)
object_headingThe heading of the object in rad, with respect to WGS84

Definition at line 433 of file cam_ts_setters.h.

466 {
467
468#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
469
470#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
471
479inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
480 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
481}
482
492inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
493 // First ensure, that the object has the correct heading by setting its value
494 double orientation = object_heading * 180 / M_PI; // Convert to degrees
495 // Normalize to [0, 360)
496 orientation = std::fmod(orientation + 360, 360);
497 while (orientation < 0) {
498 orientation += 360;
499 }
500 while (orientation >= 360) {
501 orientation -= 360;
502 }
503 setHeading(cam, orientation);
504 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
505 covariance_matrix, object_heading);
506}
507
516inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
517 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
518 covariance_matrix);
519}
520
521
522} // namespace etsi_its_cam_ts_msgs::access

◆ setPositionConfidenceEllipse() [1/2]

template<typename PositionConfidenceEllipse, typename Wgs84AngleValue = decltype(PositionConfidenceEllipse::semi_major_axis_orientation)>
void etsi_its_cam_ts_msgs::access::setPositionConfidenceEllipse ( PositionConfidenceEllipse & position_confidence_ellipse,
const double semi_major_axis,
const double semi_minor_axis,
const double orientation )
inline

Set the Position Confidence Ellipse object.

Parameters
position_confidence_ellipseThe position confidence ellipse to set
semi_major_axisThe length of the semi-major axis in meters
semi_minor_axisThe length of the semi-minor axis in meters
orientationThe orientation of the semi-major axis in degrees, relative to WGS84

Definition at line 174 of file cam_ts_setters.h.

207 {
208
209#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
210
211#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
212
220inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
221 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
222}
223
233inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
234 // First ensure, that the object has the correct heading by setting its value
235 double orientation = object_heading * 180 / M_PI; // Convert to degrees
236 // Normalize to [0, 360)
237 orientation = std::fmod(orientation + 360, 360);
238 while (orientation < 0) {
239 orientation += 360;
240 }
241 while (orientation >= 360) {
242 orientation -= 360;
243 }
244 setHeading(cam, orientation);
245 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
246 covariance_matrix, object_heading);
247}
248
257inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
258 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
259 covariance_matrix);
260}
261
262
263} // namespace etsi_its_cam_ts_msgs::access

◆ setPositionConfidenceEllipse() [2/2]

template<typename PositionConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setPositionConfidenceEllipse ( PositionConfidenceEllipse & position_confidence_ellipse,
const std::array< double, 4 > & covariance_matrix,
const double object_heading )
inline

Set the Position Confidence Ellipse object.

Parameters
position_confidence_ellipse
covariance_matrixThe four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the object (x = longitudinal, y = lateral)
object_headingThe heading of the object in rad, with respect to WGS84

Definition at line 191 of file cam_ts_setters.h.

224 {
225
226#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
227
228#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
229
237inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
238 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
239}
240
250inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
251 // First ensure, that the object has the correct heading by setting its value
252 double orientation = object_heading * 180 / M_PI; // Convert to degrees
253 // Normalize to [0, 360)
254 orientation = std::fmod(orientation + 360, 360);
255 while (orientation < 0) {
256 orientation += 360;
257 }
258 while (orientation >= 360) {
259 orientation -= 360;
260 }
261 setHeading(cam, orientation);
262 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
263 covariance_matrix, object_heading);
264}
265
274inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
275 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
276 covariance_matrix);
277}
278
279
280} // namespace etsi_its_cam_ts_msgs::access

◆ setReferencePosition() [1/2]

void etsi_its_cam_ts_msgs::access::setReferencePosition ( CAM & cam,
const double latitude,
const double longitude,
const double altitude = AltitudeValue::UNAVAILABLE )
inline

Set the ReferencePosition for a CAM.

This function sets the latitude, longitude, and altitude of the CAMs reference position. If the altitude is not provided, it is set to AltitudeValue::UNAVAILABLE.

Parameters
camCAM to set the ReferencePosition
latitudeThe latitude value position in degree as decimal number.
longitudeThe longitude value in degree as decimal number.
altitudeThe altitude value (above the reference ellipsoid surface) in meter as decimal number (optional).

Definition at line 232 of file cam_ts_setters.h.

265 {
266
267#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
268
269#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
270
278inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
279 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
280}
281
291inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
292 // First ensure, that the object has the correct heading by setting its value
293 double orientation = object_heading * 180 / M_PI; // Convert to degrees
294 // Normalize to [0, 360)
295 orientation = std::fmod(orientation + 360, 360);
296 while (orientation < 0) {
297 orientation += 360;
298 }
299 while (orientation >= 360) {
300 orientation -= 360;
301 }
302 setHeading(cam, orientation);
303 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
304 covariance_matrix, object_heading);
305}
306
315inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
316 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
317 covariance_matrix);
318}
319
320
321} // namespace etsi_its_cam_ts_msgs::access

◆ setReferencePosition() [2/2]

template<typename T>
void etsi_its_cam_ts_msgs::access::setReferencePosition ( T & ref_position,
const double latitude,
const double longitude,
const double altitude = AltitudeValue::UNAVAILABLE )
inline

Sets the reference position in the given ReferencePostion object.

This function sets the latitude, longitude, and altitude of the reference position. If the altitude is not provided, it is set to AltitudeValue::UNAVAILABLE.

Parameters
ref_positionReferencePostion or ReferencePositionWithConfidence object to set the reference position in.
latitudeThe latitude value position in degree as decimal number.
longitudeThe longitude value in degree as decimal number.
altitudeThe altitude value (above the reference ellipsoid surface) in meter as decimal number (optional).

Definition at line 242 of file cam_ts_setters.h.

275 {
276
277#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
278
279#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
280
288inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
289 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
290}
291
301inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
302 // First ensure, that the object has the correct heading by setting its value
303 double orientation = object_heading * 180 / M_PI; // Convert to degrees
304 // Normalize to [0, 360)
305 orientation = std::fmod(orientation + 360, 360);
306 while (orientation < 0) {
307 orientation += 360;
308 }
309 while (orientation >= 360) {
310 orientation -= 360;
311 }
312 setHeading(cam, orientation);
313 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
314 covariance_matrix, object_heading);
315}
316
325inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
326 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
327 covariance_matrix);
328}
329
330
331} // namespace etsi_its_cam_ts_msgs::access

◆ setRefPosConfidence()

void etsi_its_cam_ts_msgs::access::setRefPosConfidence ( CAM & cam,
const std::array< double, 4 > & covariance_matrix,
const double object_heading )
inline

Set the confidence of the reference position.

Parameters
camCAM-Message to set the confidence
covariance_matrixThe four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the object (x = longitudinal, y = lateral)
object_headingheading of the object in rad, with respect to WGS84

Definition at line 360 of file cam_ts_setters.h.

393 {
394
395#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
396
397#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
398
406inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
407 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
408}
409
419inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
420 // First ensure, that the object has the correct heading by setting its value
421 double orientation = object_heading * 180 / M_PI; // Convert to degrees
422 // Normalize to [0, 360)
423 orientation = std::fmod(orientation + 360, 360);
424 while (orientation < 0) {
425 orientation += 360;
426 }
427 while (orientation >= 360) {
428 orientation -= 360;
429 }
430 setHeading(cam, orientation);
431 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
432 covariance_matrix, object_heading);
433}
434
443inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
444 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
445 covariance_matrix);
446}
447
448
449} // namespace etsi_its_cam_ts_msgs::access

◆ setSemiAxis()

template<typename SemiAxisLength>
void etsi_its_cam_ts_msgs::access::setSemiAxis ( SemiAxisLength & semi_axis_length,
const double length )
inline

Set the Semi Axis length.

// See https://godbolt.org/z/Eceavfo99 on how the OneCentimeterHelper works with this template

Parameters
semi_axis_lengthThe SemiAxisLength to set
lengththe desired length in meters

Definition at line 341 of file cam_ts_setters.h.

374 {
375
376#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
377
378#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
379
387inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
388 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
389}
390
400inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
401 // First ensure, that the object has the correct heading by setting its value
402 double orientation = object_heading * 180 / M_PI; // Convert to degrees
403 // Normalize to [0, 360)
404 orientation = std::fmod(orientation + 360, 360);
405 while (orientation < 0) {
406 orientation += 360;
407 }
408 while (orientation >= 360) {
409 orientation -= 360;
410 }
411 setHeading(cam, orientation);
412 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
413 covariance_matrix, object_heading);
414}
415
424inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
425 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
426 covariance_matrix);
427}
428
429
430} // namespace etsi_its_cam_ts_msgs::access

◆ setSpecialTransportType()

void etsi_its_cam_ts_msgs::access::setSpecialTransportType ( SpecialTransportType & special_transport_type,
const std::vector< bool > & bits )
inline

Set the Special Transport Type by a vector of bools.

Parameters
special_transport_type
bits

Definition at line 314 of file cam_ts_setters.h.

347 {
348
349#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
350
351#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
352
360inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
361 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
362}
363
373inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
374 // First ensure, that the object has the correct heading by setting its value
375 double orientation = object_heading * 180 / M_PI; // Convert to degrees
376 // Normalize to [0, 360)
377 orientation = std::fmod(orientation + 360, 360);
378 while (orientation < 0) {
379 orientation += 360;
380 }
381 while (orientation >= 360) {
382 orientation -= 360;
383 }
384 setHeading(cam, orientation);
385 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
386 covariance_matrix, object_heading);
387}
388
397inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
398 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
399 covariance_matrix);
400}
401
402
403} // namespace etsi_its_cam_ts_msgs::access

◆ setSpeed() [1/2]

void etsi_its_cam_ts_msgs::access::setSpeed ( CAM & cam,
const double speed_val,
const double confidence = SpeedConfidence::UNAVAILABLE )
inline

Set the vehicle speed.

Parameters
camCAM to set the speed value
speed_valspeed value to set in m/s as decimal number

Definition at line 187 of file cam_ts_setters.h.

220 {
221
222#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
223
224#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
225
233inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
234 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
235}
236
246inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
247 // First ensure, that the object has the correct heading by setting its value
248 double orientation = object_heading * 180 / M_PI; // Convert to degrees
249 // Normalize to [0, 360)
250 orientation = std::fmod(orientation + 360, 360);
251 while (orientation < 0) {
252 orientation += 360;
253 }
254 while (orientation >= 360) {
255 orientation -= 360;
256 }
257 setHeading(cam, orientation);
258 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
259 covariance_matrix, object_heading);
260}
261
270inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
271 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
272 covariance_matrix);
273}
274
275
276} // namespace etsi_its_cam_ts_msgs::access

◆ setSpeed() [2/2]

void etsi_its_cam_ts_msgs::access::setSpeed ( Speed & speed,
const double value,
const double confidence = std::numeric_limits<double>::infinity() )
inline

Set the Speed object.

SpeedConfidence is set to UNAVAILABLE

Parameters
speedobject to set
valueSpeed in in m/s as decimal number
confidencestandard deviation in m/s as decimal number (Optional. Default is std::numeric_limits<double>::infinity(), mapping to SpeedConfidence::UNAVAILABLE)

Definition at line 208 of file cam_ts_setters.h.

241 {
242
243#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
244
245#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
246
254inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
255 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
256}
257
267inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
268 // First ensure, that the object has the correct heading by setting its value
269 double orientation = object_heading * 180 / M_PI; // Convert to degrees
270 // Normalize to [0, 360)
271 orientation = std::fmod(orientation + 360, 360);
272 while (orientation < 0) {
273 orientation += 360;
274 }
275 while (orientation >= 360) {
276 orientation -= 360;
277 }
278 setHeading(cam, orientation);
279 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
280 covariance_matrix, object_heading);
281}
282
291inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
292 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
293 covariance_matrix);
294}
295
296
297} // namespace etsi_its_cam_ts_msgs::access

◆ setSpeedConfidence()

void etsi_its_cam_ts_msgs::access::setSpeedConfidence ( SpeedConfidence & speed_confidence,
const double value )
inline

Set the Speed Confidence object.

Parameters
speed_confidenceobject to set
valuestandard deviation in m/s as decimal number

Definition at line 189 of file cam_ts_setters.h.

222 {
223
224#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
225
226#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
227
235inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
236 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
237}
238
248inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
249 // First ensure, that the object has the correct heading by setting its value
250 double orientation = object_heading * 180 / M_PI; // Convert to degrees
251 // Normalize to [0, 360)
252 orientation = std::fmod(orientation + 360, 360);
253 while (orientation < 0) {
254 orientation += 360;
255 }
256 while (orientation >= 360) {
257 orientation -= 360;
258 }
259 setHeading(cam, orientation);
260 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
261 covariance_matrix, object_heading);
262}
263
272inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
273 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
274 covariance_matrix);
275}
276
277
278} // namespace etsi_its_cam_ts_msgs::access

◆ setSpeedValue()

void etsi_its_cam_ts_msgs::access::setSpeedValue ( SpeedValue & speed,
const double value )
inline

Set the SpeedValue object.

Parameters
speedobject to set
valueSpeedValue in m/s as decimal number

Definition at line 177 of file cam_ts_setters.h.

210 {
211
212#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
213
214#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
215
223inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
224 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
225}
226
236inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
237 // First ensure, that the object has the correct heading by setting its value
238 double orientation = object_heading * 180 / M_PI; // Convert to degrees
239 // Normalize to [0, 360)
240 orientation = std::fmod(orientation + 360, 360);
241 while (orientation < 0) {
242 orientation += 360;
243 }
244 while (orientation >= 360) {
245 orientation -= 360;
246 }
247 setHeading(cam, orientation);
248 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
249 covariance_matrix, object_heading);
250}
251
260inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
261 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
262 covariance_matrix);
263}
264
265
266} // namespace etsi_its_cam_ts_msgs::access

◆ setStationId()

void etsi_its_cam_ts_msgs::access::setStationId ( StationId & station_id,
const uint32_t id_value )
inline

Set the Station Id object.

Parameters
station_id
id_value

Definition at line 72 of file cam_ts_setters.h.

◆ setStationType() [1/2]

void etsi_its_cam_ts_msgs::access::setStationType ( CAM & cam,
const uint8_t value )
inline

Set the StationType for a CAM.

Parameters
camCAM-Message to set the station_type value
valuestation_type value to set

Definition at line 110 of file cam_ts_setters.h.

143 {
144
145#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
146
147#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
148
156inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
157 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
158}
159
169inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
170 // First ensure, that the object has the correct heading by setting its value
171 double orientation = object_heading * 180 / M_PI; // Convert to degrees
172 // Normalize to [0, 360)
173 orientation = std::fmod(orientation + 360, 360);
174 while (orientation < 0) {
175 orientation += 360;
176 }
177 while (orientation >= 360) {
178 orientation -= 360;
179 }
180 setHeading(cam, orientation);
181 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
182 covariance_matrix, object_heading);
183}
184
193inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
194 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
195 covariance_matrix);
196}
197
198
199} // namespace etsi_its_cam_ts_msgs::access

◆ setStationType() [2/2]

void etsi_its_cam_ts_msgs::access::setStationType ( TrafficParticipantType & station_type,
const uint8_t value )
inline

Set the Station Type.

Parameters
station_type
value

Definition at line 100 of file cam_ts_setters.h.

133 {
134
135#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
136
137#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
138
146inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
147 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
148}
149
159inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
160 // First ensure, that the object has the correct heading by setting its value
161 double orientation = object_heading * 180 / M_PI; // Convert to degrees
162 // Normalize to [0, 360)
163 orientation = std::fmod(orientation + 360, 360);
164 while (orientation < 0) {
165 orientation += 360;
166 }
167 while (orientation >= 360) {
168 orientation -= 360;
169 }
170 setHeading(cam, orientation);
171 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
172 covariance_matrix, object_heading);
173}
174
183inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
184 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
185 covariance_matrix);
186}
187
188
189} // namespace etsi_its_cam_ts_msgs::access

◆ setTimestampITS()

void etsi_its_cam_ts_msgs::access::setTimestampITS ( TimestampIts & timestamp_its,
const uint64_t unix_nanosecs,
const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second )
inline

Set the TimestampITS object.

Parameters
[in]timestamp_itsTimestampITS object to set the timestamp
[in]unix_nanosecsUnix-Nanoseconds to set the timestamp for
[in]n_leap_secondsNumber of leap-seconds since 2004. (Defaults to the todays number of leap seconds since 2004.)
[in]epoch_offsetUnix-Timestamp in seconds for the 01.01.2004 at 00:00:00

Definition at line 109 of file cam_ts_setters.h.

142 {
143
144#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
145
146#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
147
155inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
156 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
157}
158
168inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
169 // First ensure, that the object has the correct heading by setting its value
170 double orientation = object_heading * 180 / M_PI; // Convert to degrees
171 // Normalize to [0, 360)
172 orientation = std::fmod(orientation + 360, 360);
173 while (orientation < 0) {
174 orientation += 360;
175 }
176 while (orientation >= 360) {
177 orientation -= 360;
178 }
179 setHeading(cam, orientation);
180 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
181 covariance_matrix, object_heading);
182}
183
192inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
193 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
194 covariance_matrix);
195}
196
197
198} // namespace etsi_its_cam_ts_msgs::access

◆ setVehicleDimensions()

void etsi_its_cam_ts_msgs::access::setVehicleDimensions ( CAM & cam,
const double vehicle_length,
const double vehicle_width )
inline

Set the vehicle dimensions.

Parameters
camCAM to set the vehicle dimensions
vehicle_lengthvehicle length in meter as decimal number
vehicle_widthvehicle width in meter as decimal number

Definition at line 173 of file cam_ts_setters.h.

206 {
207
208#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
209
210#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
211
219inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
220 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
221}
222
232inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
233 // First ensure, that the object has the correct heading by setting its value
234 double orientation = object_heading * 180 / M_PI; // Convert to degrees
235 // Normalize to [0, 360)
236 orientation = std::fmod(orientation + 360, 360);
237 while (orientation < 0) {
238 orientation += 360;
239 }
240 while (orientation >= 360) {
241 orientation -= 360;
242 }
243 setHeading(cam, orientation);
244 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
245 covariance_matrix, object_heading);
246}
247
256inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
257 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
258 covariance_matrix);
259}
260
261
262} // namespace etsi_its_cam_ts_msgs::access

◆ setVehicleLength()

void etsi_its_cam_ts_msgs::access::setVehicleLength ( VehicleLength & vehicle_length,
const double value )
inline

Set the VehicleLength object.

VehicleLengthConfidenceIndication is set to UNAVAILABLE

Parameters
vehicle_lengthobject to set
valueVehicleLengthValue in meter as decimal number

Definition at line 161 of file cam_ts_setters.h.

194 {
195
196#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
197
198#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
199
207inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
208 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
209}
210
220inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
221 // First ensure, that the object has the correct heading by setting its value
222 double orientation = object_heading * 180 / M_PI; // Convert to degrees
223 // Normalize to [0, 360)
224 orientation = std::fmod(orientation + 360, 360);
225 while (orientation < 0) {
226 orientation += 360;
227 }
228 while (orientation >= 360) {
229 orientation -= 360;
230 }
231 setHeading(cam, orientation);
232 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
233 covariance_matrix, object_heading);
234}
235
244inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
245 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
246 covariance_matrix);
247}
248
249
250} // namespace etsi_its_cam_ts_msgs::access

◆ setVehicleLengthValue()

void etsi_its_cam_ts_msgs::access::setVehicleLengthValue ( VehicleLengthValue & vehicle_length,
const double value )
inline

Set the VehicleLengthValue object.

Parameters
vehicle_lengthobject to set
valueVehicleLengthValue in meter as decimal number

Definition at line 147 of file cam_ts_setters.h.

180 {
181
182#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
183
184#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
185
193inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
194 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
195}
196
206inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
207 // First ensure, that the object has the correct heading by setting its value
208 double orientation = object_heading * 180 / M_PI; // Convert to degrees
209 // Normalize to [0, 360)
210 orientation = std::fmod(orientation + 360, 360);
211 while (orientation < 0) {
212 orientation += 360;
213 }
214 while (orientation >= 360) {
215 orientation -= 360;
216 }
217 setHeading(cam, orientation);
218 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
219 covariance_matrix, object_heading);
220}
221
230inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
231 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
232 covariance_matrix);
233}
234
235
236} // namespace etsi_its_cam_ts_msgs::access

◆ setVehicleWidth()

void etsi_its_cam_ts_msgs::access::setVehicleWidth ( VehicleWidth & vehicle_width,
const double value )
inline

Set the VehicleWidth object.

Parameters
vehicle_widthobject to set
valueVehicleWidth in meter as decimal number

Definition at line 135 of file cam_ts_setters.h.

168 {
169
170#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
171
172#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
173
181inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
182 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
183}
184
194inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
195 // First ensure, that the object has the correct heading by setting its value
196 double orientation = object_heading * 180 / M_PI; // Convert to degrees
197 // Normalize to [0, 360)
198 orientation = std::fmod(orientation + 360, 360);
199 while (orientation < 0) {
200 orientation += 360;
201 }
202 while (orientation >= 360) {
203 orientation -= 360;
204 }
205 setHeading(cam, orientation);
206 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
207 covariance_matrix, object_heading);
208}
209
218inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
219 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
220 covariance_matrix);
221}
222
223
224} // namespace etsi_its_cam_ts_msgs::access

◆ setWGSPosConfidenceEllipse()

template<typename PosConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setWGSPosConfidenceEllipse ( PosConfidenceEllipse & position_confidence_ellipse,
const std::array< double, 4 > & covariance_matrix )
inline

Set the Pos Confidence Ellipse object.

Parameters
position_confidence_ellipse
covariance_matrixThe four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the WGS axes (x = North, y = East)
object_headingThe heading of the object in rad, with respect to WGS84

Definition at line 448 of file cam_ts_setters.h.

481 {
482
483#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
484
485#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
486
494inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
495 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
496}
497
507inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
508 // First ensure, that the object has the correct heading by setting its value
509 double orientation = object_heading * 180 / M_PI; // Convert to degrees
510 // Normalize to [0, 360)
511 orientation = std::fmod(orientation + 360, 360);
512 while (orientation < 0) {
513 orientation += 360;
514 }
515 while (orientation >= 360) {
516 orientation -= 360;
517 }
518 setHeading(cam, orientation);
519 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
520 covariance_matrix, object_heading);
521}
522
531inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
532 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
533 covariance_matrix);
534}
535
536
537} // namespace etsi_its_cam_ts_msgs::access

◆ setWGSPositionConfidenceEllipse()

template<typename PositionConfidenceEllipse>
void etsi_its_cam_ts_msgs::access::setWGSPositionConfidenceEllipse ( PositionConfidenceEllipse & position_confidence_ellipse,
const std::array< double, 4 > & covariance_matrix )
inline

Set the Position Confidence Ellipse object.

Parameters
position_confidence_ellipse
covariance_matrixThe four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the WGS axes (x = North, y = East)
object_headingThe heading of the object in rad, with respect to WGS84

Definition at line 206 of file cam_ts_setters.h.

239 {
240
241#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
242
243#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
244
252inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
253 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
254}
255
265inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
266 // First ensure, that the object has the correct heading by setting its value
267 double orientation = object_heading * 180 / M_PI; // Convert to degrees
268 // Normalize to [0, 360)
269 orientation = std::fmod(orientation + 360, 360);
270 while (orientation < 0) {
271 orientation += 360;
272 }
273 while (orientation >= 360) {
274 orientation -= 360;
275 }
276 setHeading(cam, orientation);
277 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
278 covariance_matrix, object_heading);
279}
280
289inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
290 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
291 covariance_matrix);
292}
293
294
295} // namespace etsi_its_cam_ts_msgs::access

◆ setWGSRefPosConfidence()

void etsi_its_cam_ts_msgs::access::setWGSRefPosConfidence ( CAM & cam,
const std::array< double, 4 > & covariance_matrix )
inline

Set the confidence of the reference position.

Parameters
camCAM-Message to set the confidence
covariance_matrixThe four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is WGS84 (x = North, y = East)

Definition at line 384 of file cam_ts_setters.h.

417 {
418
419#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_setters.h>
420
421#include <etsi_its_msgs_utils/impl/cam/cam_setters_common.h>
422
430inline void setItsPduHeader(CAM& cam, const uint32_t station_id, const uint8_t protocol_version = 0) {
431 setItsPduHeader(cam.header, MessageId::CAM, station_id, protocol_version);
432}
433
443inline void setRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix, const double object_heading) {
444 // First ensure, that the object has the correct heading by setting its value
445 double orientation = object_heading * 180 / M_PI; // Convert to degrees
446 // Normalize to [0, 360)
447 orientation = std::fmod(orientation + 360, 360);
448 while (orientation < 0) {
449 orientation += 360;
450 }
451 while (orientation >= 360) {
452 orientation -= 360;
453 }
454 setHeading(cam, orientation);
455 setPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
456 covariance_matrix, object_heading);
457}
458
467inline void setWGSRefPosConfidence(CAM& cam, const std::array<double, 4>& covariance_matrix) {
468 setWGSPositionConfidenceEllipse(cam.cam.cam_parameters.basic_container.reference_position.position_confidence_ellipse,
469 covariance_matrix);
470}
471
472
473} // namespace etsi_its_cam_ts_msgs::access

◆ throwIfNotPresent()

void etsi_its_cam_ts_msgs::access::throwIfNotPresent ( const bool is_present,
const std::string val_desc )
inline

Throws an exception if the given value is not present.

Parameters
is_presentWhether the value is present.
val_descDescription of the value for the exception message.

Definition at line 58 of file cam_ts_access.h.

◆ throwIfOutOfRange()

template<typename T1, typename T2>
void etsi_its_cam_ts_msgs::access::throwIfOutOfRange ( const T1 & val,
const T2 & min,
const T2 & max,
const std::string val_desc )

Throws an exception if a given value is out of a defined range.

Template Parameters
T1
T2
Parameters
valThe value to check if it is in the range.
minThe minimum value of the range.
maxThe maximum value of the range.
val_descDescription of the value for the exception message.

Definition at line 47 of file cam_ts_access.h.