cdd_getters_common.h

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/*
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Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
 
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#ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H
#define ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H
 
#include <GeographicLib/UTMUPS.hpp>

inline uint32_t getStationID(const ItsPduHeader& header) { return header.station_id.value; }

inline double getLatitude(const Latitude& latitude) { return ((double)latitude.value) * 1e-7; }

inline double getLongitude(const Longitude& longitude) { return ((double)longitude.value) * 1e-7; }

inline double getAltitude(const Altitude& altitude) { return ((double)altitude.altitude_value.value) * 1e-2; }

inline double getSpeed(const Speed& speed) { return ((double)speed.speed_value.value) * 1e-2; }

template <typename T>
inline gm::PointStamped getUTMPosition(const T& reference_position, int& zone, bool& northp) {
  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;
}
 
#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H