cdd_getters_common.h File Reference

Common getter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1 and v2.1.1. More...

#include <GeographicLib/UTMUPS.hpp>

Go to the source code of this file.

Functions
uint32_t	getStationID (const ItsPduHeader &header)
	Get the StationID of ItsPduHeader.
double	getLatitude (const Latitude &latitude)
	Get the Latitude value.
double	getLongitude (const Longitude &longitude)
	Get the Longitude value.
double	getAltitude (const Altitude &altitude)
	Get the Altitude value.
double	getSpeed (const Speed &speed)
	Get the vehicle speed.
std::vector< bool >	getBitString (const std::vector< uint8_t > &buffer, const int bits_unused)
	Get a Bit String in form of bool vector.
template<typename T >
gm::PointStamped	getUTMPosition (const T &reference_position, int &zone, bool &northp)
	Get the UTM Position defined by the given ReferencePosition.

Detailed Description

Common getter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1 and v2.1.1.

Definition in file cdd_getters_common.h.

Function Documentation

getAltitude()

double getAltitude ( const Altitude & altitude )

inline

Get the Altitude value.

Parameters

altitude

to get the Altitude value from

Returns

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

Definition at line 67 of file cdd_getters_common.h.

{ return ((double)altitude.altitude_value.value) * 1e-2; }

getBitString()

std::vector< bool > getBitString ( const std::vector< uint8_t > & buffer, const int bits_unused )

inline

Get a Bit String in form of bool vector.

Parameters

buffer	as uint8_t vector
bits_unused	number of bits to ignore at the end of the bit string

Returns

std::vector<bool>

Definition at line 84 of file cdd_getters_common.h.

                                                                                             {
  // bit string size
  const int bits_per_byte = 8;
  const int n_bytes = buffer.size();
  const int n_bits = n_bytes * bits_per_byte;
  std::vector<bool> bits;
  bits.resize(n_bits - bits_unused, 0);
 
  // loop over bytes in reverse order
  for (int byte_idx = n_bytes - 1; byte_idx >= 0; byte_idx--) {
    // loop over bits in a byte
    for (int bit_idx_in_byte = 0; bit_idx_in_byte < bits_per_byte; bit_idx_in_byte++) {
      // map bit index in byte to bit index in total bitstring
      int bit_idx = (n_bytes - byte_idx - 1) * bits_per_byte + bit_idx_in_byte;
      if (byte_idx == 0 && bit_idx >= n_bits - bits_unused) break;
 
      // extract bit from bitstring and set output array entry appropriately
      bool byte_has_true_bit = buffer[byte_idx] & (1 << bit_idx_in_byte);
      if (byte_has_true_bit) bits[bit_idx] = 1;
    }
  }
  return bits;
}

getLatitude()

double getLatitude ( const Latitude & latitude )

inline

Get the Latitude value.

Parameters

latitude

to get the Latitude value from

Returns

Latitude value in degree as decimal number

Definition at line 51 of file cdd_getters_common.h.

{ return ((double)latitude.value) * 1e-7; }

getLongitude()

double getLongitude ( const Longitude & longitude )

inline

Get the Longitude value.

Parameters

longitude

to get the Longitude value from

Returns

Longitude value in degree as decimal number

Definition at line 59 of file cdd_getters_common.h.

{ return ((double)longitude.value) * 1e-7; }

getSpeed()

double getSpeed ( const Speed & speed )

inline

Get the vehicle speed.

Parameters

speed

to get the speed value from

Returns

speed value in m/s as decimal number

Definition at line 75 of file cdd_getters_common.h.

{ return ((double)speed.speed_value.value) * 1e-2; }

getStationID()

uint32_t getStationID ( const ItsPduHeader & header )

inline

Get the StationID of ItsPduHeader.

Parameters

header

ItsPduHeader to get the StationID value from

Returns

stationID value

Definition at line 43 of file cdd_getters_common.h.

{ return header.station_id.value; }

getUTMPosition()

template<typename T >

gm::PointStamped getUTMPosition ( const T & reference_position, int & zone, bool & northp )

inline

Get the UTM Position defined by the given ReferencePosition.

The position is transformed into UTM by using GeographicLib::UTMUPS The altitude value is directly used as z-Coordinate

Parameters

[in]	reference_position	ReferencePosition or ReferencePositionWithConfidence to get the UTM Position from
[out]	zone	the UTM zone (zero means UPS)
[out]	northp	hemisphere (true means north, false means south)

Returns

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

Definition at line 120 of file cdd_getters_common.h.

                                                                                           {
  gm::PointStamped utm_point;
  double latitude = getLatitude(reference_position.latitude);
  double longitude = getLongitude(reference_position.longitude);
  utm_point.point.z = getAltitude(reference_position.altitude);
  try {
    GeographicLib::UTMUPS::Forward(latitude, longitude, zone, northp, utm_point.point.x, utm_point.point.y);
    std::string hemisphere;
    if (northp) {
      hemisphere = "N";
    } else {
      hemisphere = "S";
    }
    utm_point.header.frame_id = "utm_" + std::to_string(zone) + hemisphere;
  } catch (GeographicLib::GeographicErr& e) {
    throw std::invalid_argument(e.what());
  }
  return utm_point;
}