cdd_setters_common.h File Reference

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

#include <etsi_its_msgs_utils/impl/cdd/cdd_checks.h>
#include <etsi_its_msgs_utils/impl/constants.h>
#include <GeographicLib/UTMUPS.hpp>
#include <cstring>

Go to the source code of this file.

Functions
void	setTimestampITS (TimestampIts &timestamp_its, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end() ->second)
	Set the TimestampITS object.
void	setLatitude (Latitude &latitude, const double deg)
	Set the Latitude object.
void	setLongitude (Longitude &longitude, const double deg)
	Set the Longitude object.
void	setAltitudeValue (AltitudeValue &altitude, const double value)
	Set the AltitudeValue object.
void	setAltitude (Altitude &altitude, const double value)
	Set the Altitude object.
void	setSpeedValue (SpeedValue &speed, const double value)
	Set the SpeedValue object.
void	setSpeed (Speed &speed, const double value)
	Set the Speed object.
template<typename T >
void	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	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 T >
void	setBitString (T &bitstring, const std::vector< bool > &bits)
	Set a Bit String by a vector of bools.

Detailed Description

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

Definition in file cdd_setters_common.h.

Function Documentation

setAltitude()

void setAltitude ( Altitude & altitude, const double value )

inline

Set the Altitude object.

AltitudeConfidence is set to UNAVAILABLE

Parameters

altitude	object to set
value	Altitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 105 of file cdd_setters_common.h.

                                                                {
  altitude.altitude_confidence.value = AltitudeConfidence::UNAVAILABLE;
  setAltitudeValue(altitude.altitude_value, value);
}

setAltitudeValue()

void setAltitudeValue ( AltitudeValue & altitude, const double value )

inline

Set the AltitudeValue object.

Parameters

altitude	object to set
value	AltitudeValue value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 86 of file cdd_setters_common.h.

                                                                          {
  int64_t alt_in_cm = (int64_t)std::round(value * 1e2);
  if (alt_in_cm >= AltitudeValue::MIN && alt_in_cm <= AltitudeValue::MAX) {
    altitude.value = alt_in_cm;
  } else if (alt_in_cm < AltitudeValue::MIN) {
    altitude.value = AltitudeValue::MIN;
  } else if (alt_in_cm > AltitudeValue::MAX) {
    altitude.value = AltitudeValue::MAX;
  }
}

setBitString()

template<typename T >

void setBitString ( T & bitstring, const std::vector< bool > & bits )

inline

Set a Bit String by a vector of bools.

Template Parameters

T

Parameters

bitstring	BitString to set
bits	vector of bools

Definition at line 197 of file cdd_setters_common.h.

                                                                    {
  // bit string size
  const int bits_per_byte = 8;
  const int n_bytes = (bits.size() - 1) / bits_per_byte + 1;
  const int n_bits = n_bytes * bits_per_byte;
 
  // init output
  bitstring.bits_unused = n_bits - bits.size();
  bitstring.value = std::vector<uint8_t>(n_bytes);
 
  // loop over all 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 - bitstring.bits_unused) break;
 
      // set bit in output bitstring appropriately
      bitstring.value[byte_idx] |= bits[bit_idx] << bit_idx_in_byte;
    }
  }
}

setFromUTMPosition()

template<typename T >

void 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_position	ReferencePostion or ReferencePositionWithConfidence to set
[in]	utm_position	geometry_msgs::PointStamped describing the given utm position
[in]	zone	the UTM zone (zero means UPS) of the given position
[in]	northp	hemisphere (true means north, false means south)

Definition at line 173 of file cdd_setters_common.h.

                                                  {
  std::string required_frame_prefix = "utm_";
  if (utm_position.header.frame_id.rfind(required_frame_prefix, 0) != 0) {
    throw std::invalid_argument("Frame-ID of UTM Position '" + utm_position.header.frame_id +
                                "' does not start with required prefix '" + required_frame_prefix + "'!");
  }
  double latitude, longitude;
  try {
    GeographicLib::UTMUPS::Reverse(zone, northp, utm_position.point.x, utm_position.point.y, latitude, longitude);
  } catch (GeographicLib::GeographicErr& e) {
    throw std::invalid_argument(e.what());
  }
  setReferencePosition(reference_position, latitude, longitude, utm_position.point.z);
}

setLatitude()

void setLatitude ( Latitude & latitude, const double deg )

inline

Set the Latitude object.

Parameters

latitude	object to set
deg	Latitude value in degree as decimal number

Definition at line 62 of file cdd_setters_common.h.

                                                              {
  int64_t angle_in_10_micro_degree = (int64_t)std::round(deg * 1e7);
  throwIfOutOfRange(angle_in_10_micro_degree, Latitude::MIN, Latitude::MAX, "Latitude");
  latitude.value = angle_in_10_micro_degree;
}

setLongitude()

void setLongitude ( Longitude & longitude, const double deg )

inline

Set the Longitude object.

Parameters

longitude	object to set
deg	Longitude value in degree as decimal number

Definition at line 74 of file cdd_setters_common.h.

                                                                 {
  int64_t angle_in_10_micro_degree = (int64_t)std::round(deg * 1e7);
  throwIfOutOfRange(angle_in_10_micro_degree, Longitude::MIN, Longitude::MAX, "Longitude");
  longitude.value = angle_in_10_micro_degree;
}

setReferencePosition()

template<typename T >

void 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_position	ReferencePostion or ReferencePositionWithConfidence object to set the reference position in.
latitude	The latitude value position in degree as decimal number.
longitude	The longitude value in degree as decimal number.
altitude	The altitude value (above the reference ellipsoid surface) in meter as decimal number (optional).

Definition at line 147 of file cdd_setters_common.h.

                                                                                   {
  setLatitude(ref_position.latitude, latitude);
  setLongitude(ref_position.longitude, longitude);
  if (altitude != AltitudeValue::UNAVAILABLE) {
    setAltitude(ref_position.altitude, altitude);
  } else {
    ref_position.altitude.altitude_value.value = AltitudeValue::UNAVAILABLE;
    ref_position.altitude.altitude_confidence.value = AltitudeConfidence::UNAVAILABLE;
  }
  // TODO: set confidence values
}

setSpeed()

void setSpeed ( Speed & speed, const double value )

inline

Set the Speed object.

SpeedConfidence is set to UNAVAILABLE

Parameters

speed	object to set
value	Speed in in m/s as decimal number

Definition at line 130 of file cdd_setters_common.h.

                                                       {
  speed.speed_confidence.value = SpeedConfidence::UNAVAILABLE;
  setSpeedValue(speed.speed_value, value);
}

setSpeedValue()

void setSpeedValue ( SpeedValue & speed, const double value )

inline

Set the SpeedValue object.

Parameters

speed	object to set
value	SpeedValue in m/s as decimal number

Definition at line 116 of file cdd_setters_common.h.

                                                                 {
  int64_t speed_val = (int64_t)std::round(value * 1e2);
  throwIfOutOfRange(speed_val, SpeedValue::MIN, SpeedValue::MAX, "SpeedValue");
  speed.value = speed_val;
}

setTimestampITS()

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

inline

Set the TimestampITS object.

Parameters

[in]	timestamp_its	TimestampITS object to set the timestamp
[in]	unix_nanosecs	Unix-Nanoseconds to set the timestamp for
[in]	n_leap_seconds	Number of leap-seconds since 2004. (Default: etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.end()->second)
[in]	epoch_offset	Unix-Timestamp in seconds for the 01.01.2004 at 00:00:00

Definition at line 48 of file cdd_setters_common.h.

                                                                                                  {
  uint64_t t_its = unix_nanosecs * 1e-6 + (uint64_t)(n_leap_seconds * 1e3) - etsi_its_msgs::UNIX_SECONDS_2004 * 1e3;
  throwIfOutOfRange(t_its, TimestampIts::MIN, TimestampIts::MAX, "TimestampIts");
  timestamp_its.value = t_its;
}