cdd_getters_common.h

Go to the documentation of this file.

/*
=============================================================================
MIT License
 
Copyright (c) 2023-2025 Institute for Automotive Engineering (ika), RWTH Aachen University
 
Permission is hereby granted, free of charge, to any person obtaining a copy
of this software and associated documentation files (the "Software"), to deal
in the Software without restriction, including without limitation the rights
to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
copies of the Software, and to permit persons to whom the Software is
furnished to do so, subject to the following conditions:
 
The above copyright notice and this permission notice shall be included in all
copies or substantial portions of the Software.
 
THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
=============================================================================
*/

 
#ifndef ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H
#define ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H
 
#include <array>
#include <cmath>
#include <cstdint>
#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; }

inline double getSpeedConfidence(const Speed& speed) {
  return ((double)speed.speed_confidence.value) / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR * 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;
}

template <typename Heading>
inline double getHeadingCDD(const Heading& heading) { return ((double)heading.heading_value.value) * 1e-1; }

template <typename Heading>
inline double getHeadingConfidenceCDD(const Heading& heading) { return ((double)heading.heading_confidence.value) * 1e-1 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR; }

template <typename SemiAxisLength>
inline double getSemiAxis(const SemiAxisLength& semi_axis_length) {
  return ((double)semi_axis_length.value) * 1e-2 / etsi_its_msgs::OneCentimeterHelper<SemiAxisLength>::value;
}

template <typename PosConfidenceEllipse>
inline std::tuple<double, double, double> getPosConfidenceEllipse(const PosConfidenceEllipse& position_confidence_ellipse) {
  return {
    getSemiAxis(position_confidence_ellipse.semi_major_confidence),
    getSemiAxis(position_confidence_ellipse.semi_minor_confidence),
    position_confidence_ellipse.semi_major_orientation.value * 1e-1
  };
}

inline std::array<double, 4> CovMatrixFromConfidenceEllipse(double semi_major, double semi_minor, double major_orientation, const double object_heading) {
  std::array<double, 4> covariance_matrix;
  double semi_major_squared = semi_major * semi_major / (etsi_its_msgs::TWO_D_GAUSSIAN_FACTOR * etsi_its_msgs::TWO_D_GAUSSIAN_FACTOR);
  double semi_minor_squared = semi_minor * semi_minor / (etsi_its_msgs::TWO_D_GAUSSIAN_FACTOR * etsi_its_msgs::TWO_D_GAUSSIAN_FACTOR);
  double major_orientation_rad = major_orientation * M_PI / 180;
  double object_heading_rad = object_heading;
  
  double angle_to_object = object_heading_rad - major_orientation_rad;
 
  double cos_angle = std::cos(angle_to_object);
  double sin_angle = std::sin(angle_to_object);
  covariance_matrix[0] = semi_major_squared * cos_angle * cos_angle + semi_minor_squared * sin_angle * sin_angle;
  covariance_matrix[1] = (semi_major_squared - semi_minor_squared) * cos_angle * sin_angle;
  covariance_matrix[2] = covariance_matrix[1];
  covariance_matrix[3] = semi_major_squared * sin_angle * sin_angle + semi_minor_squared * cos_angle * cos_angle;
 
  return covariance_matrix;
}

inline std::array<double, 4> WGSCovMatrixFromConfidenceEllipse(double semi_major, double semi_minor, double major_orientation) {
  // The WGS covariance matrix is the same as in vehicle coordinates, if it would have a heading of 0.0
  return CovMatrixFromConfidenceEllipse(semi_major, semi_minor, major_orientation, 0.0);
}

template <typename PosConfidenceEllipse>
inline std::array<double, 4> getPosConfidenceEllipse(const PosConfidenceEllipse& position_confidence_ellipse, const double object_heading){
  auto [semi_major, semi_minor, major_orientation] = getPosConfidenceEllipse(position_confidence_ellipse);
  return CovMatrixFromConfidenceEllipse(semi_major, semi_minor, major_orientation, object_heading);
}

template <typename PosConfidenceEllipse>
inline std::array<double, 4> getWGSPosConfidenceEllipse(const PosConfidenceEllipse& position_confidence_ellipse){
  auto [semi_major, semi_minor, major_orientation] = getPosConfidenceEllipse(position_confidence_ellipse);
  return WGSCovMatrixFromConfidenceEllipse(semi_major, semi_minor, major_orientation);
}
 
#endif  // ETSI_ITS_MSGS_UTILS_IMPL_CDD_CDD_GETTERS_COMMON_H