cdd_v2-1-1_setters.h File Reference

Setter functions for the ETSI ITS Common Data Dictionary (CDD) v2.1.1. More...

#include <etsi_its_msgs_utils/impl/cdd/cdd_setters_common.h>
#include <etsi_its_msgs_utils/impl/checks.h>
#include <GeographicLib/UTMUPS.hpp>
#include <cstring>

Go to the source code of this file.

Functions
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.
void	setLongitudinalAccelerationValue (AccelerationValue &accel, const double value)
	Set the LongitudinalAccelerationValue object.
void	setLongitudinalAcceleration (AccelerationComponent &accel, const double value, const double confidence)
	Set the LongitudinalAcceleration object.
void	setLateralAccelerationValue (AccelerationValue &accel, const double value)
	Set the LateralAccelerationValue object.
void	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	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	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	setWGSPositionConfidenceEllipse (PositionConfidenceEllipse &position_confidence_ellipse, const std::array< double, 4 > &covariance_matrix)
	Set the Position Confidence Ellipse object.

Detailed Description

Setter functions for the ETSI ITS Common Data Dictionary (CDD) v2.1.1.

Definition in file cdd_v2-1-1_setters.h.

Function Documentation

setItsPduHeader()

void 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

header	ItsPduHeader to be set
message_id	ID of the message
station_id
protocol_version

Definition at line 48 of file cdd_v2-1-1_setters.h.

                                                              {
  setStationId(header.station_id, station_id);
  throwIfOutOfRange(message_id, MessageId::MIN, MessageId::MAX, "MessageID");
  header.message_id.value = message_id;
  throwIfOutOfRange(protocol_version, OrdinalNumber1B::MIN, OrdinalNumber1B::MAX, "ProtocolVersion");
  header.protocol_version.value = protocol_version;
}

setLateralAcceleration()

void setLateralAcceleration ( AccelerationComponent & accel, const double value, const double confidence )

inline

Set the LateralAcceleration object.

AccelerationConfidence is set to UNAVAILABLE

Parameters

accel	object to set
value	LaterallAccelerationValue in m/s^2 as decimal number (left is positive)

Definition at line 112 of file cdd_v2-1-1_setters.h.

                                                                                                              {
  setAccelerationConfidence(accel.confidence, confidence);
  setLateralAccelerationValue(accel.value, value);
}

setLateralAccelerationValue()

void setLateralAccelerationValue ( AccelerationValue & accel, const double value )

inline

Set the LateralAccelerationValue object.

Parameters

accel	object to set
value	LateralAccelerationValue in m/s^2 as decimal number (left is positive)

Definition at line 93 of file cdd_v2-1-1_setters.h.

                                                                                      {
  int64_t accel_val = (int64_t)std::round(value * 1e1);
  if (accel_val >= AccelerationValue::MIN && accel_val <= AccelerationValue::MAX) {
    accel.value = accel_val;
  } else if (accel_val < AccelerationValue::MIN) {
    accel.value = AccelerationValue::MIN;
  } else if (accel_val > AccelerationValue::MAX) {
    accel.value = AccelerationValue::MAX - 1;
  }
}

setLongitudinalAcceleration()

void setLongitudinalAcceleration ( AccelerationComponent & accel, const double value, const double confidence )

inline

Set the LongitudinalAcceleration object.

AccelerationConfidence is set to UNAVAILABLE

Parameters

accel	object to set
value	LongitudinalAccelerationValue in m/s^2 as decimal number (braking is negative)

Definition at line 82 of file cdd_v2-1-1_setters.h.

                                                                                                                   {
  setAccelerationConfidence(accel.confidence, confidence);
  setLongitudinalAccelerationValue(accel.value, value);
}

setLongitudinalAccelerationValue()

void setLongitudinalAccelerationValue ( AccelerationValue & accel, const double value )

inline

Set the LongitudinalAccelerationValue object.

Parameters

accel	object to set
value	LongitudinalAccelerationValue in m/s^2 as decimal number (braking is negative)

Definition at line 63 of file cdd_v2-1-1_setters.h.

                                                                                           {
  int64_t accel_val = (int64_t)std::round(value * 1e1);
  if (accel_val >= AccelerationValue::MIN && accel_val <= AccelerationValue::MAX) {
    accel.value = accel_val;
  } else if (accel_val < AccelerationValue::MIN) {
    accel.value = AccelerationValue::MIN;
  } else if (accel_val > AccelerationValue::MAX) {
    accel.value = AccelerationValue::MAX - 1;
  }
}

setPositionConfidenceEllipse() [1/2]

template<typename PositionConfidenceEllipse, typename Wgs84AngleValue = decltype(PositionConfidenceEllipse::semi_major_axis_orientation)>

void 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_ellipse	The position confidence ellipse to set
semi_major_axis	The length of the semi-major axis in meters
semi_minor_axis	The length of the semi-minor axis in meters
orientation	The orientation of the semi-major axis in degrees, relative to WGS84

Definition at line 126 of file cdd_v2-1-1_setters.h.

                                                          {
  setSemiAxis(position_confidence_ellipse.semi_major_axis_length, semi_major_axis);
  setSemiAxis(position_confidence_ellipse.semi_minor_axis_length, semi_minor_axis);
  setHeadingValue(position_confidence_ellipse.semi_major_axis_orientation, orientation);
}

setPositionConfidenceEllipse() [2/2]

template<typename PositionConfidenceEllipse>

void 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_matrix	The 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_heading	The heading of the object in rad, with respect to WGS84

Definition at line 143 of file cdd_v2-1-1_setters.h.

                                                                                                                                                                           {
  auto [semi_major_axis, semi_minor_axis, orientation] = confidenceEllipseFromCovMatrix(covariance_matrix, object_heading);
  setPositionConfidenceEllipse(position_confidence_ellipse, semi_major_axis, semi_minor_axis, orientation);
}

setWGSPositionConfidenceEllipse()

template<typename PositionConfidenceEllipse>

void setWGSPositionConfidenceEllipse ( PositionConfidenceEllipse & position_confidence_ellipse, const std::array< double, 4 > & covariance_matrix )

inline

Set the Position Confidence Ellipse object.

Parameters

position_confidence_ellipse
covariance_matrix	The 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_heading	The heading of the object in rad, with respect to WGS84

Definition at line 158 of file cdd_v2-1-1_setters.h.

                                                                                                                                                 {
  auto [semi_major_axis, semi_minor_axis, orientation] = confidenceEllipseFromWGSCovMatrix(covariance_matrix);
  setPositionConfidenceEllipse(position_confidence_ellipse, semi_major_axis, semi_minor_axis, orientation);
}