cpm_ts_getters.h File Reference

Getter functions for the ETSI ITS CPM (TS). More...

#include <tuple>
#include <etsi_its_msgs_utils/impl/cdd/cdd_v2-1-1_getters.h>

Go to the source code of this file.

Functions
uint32_t	etsi_its_cpm_ts_msgs::access::getStationID (const ItsPduHeader &header)
	Get the StationID of ItsPduHeader.
double	etsi_its_cpm_ts_msgs::access::getLatitude (const Latitude &latitude)
	Get the Latitude value.
double	etsi_its_cpm_ts_msgs::access::getLongitude (const Longitude &longitude)
	Get the Longitude value.
double	etsi_its_cpm_ts_msgs::access::getAltitude (const Altitude &altitude)
	Get the Altitude value.
double	etsi_its_cpm_ts_msgs::access::getSpeed (const Speed &speed)
	Get the vehicle speed.
double	etsi_its_cpm_ts_msgs::access::getSpeedConfidence (const Speed &speed)
	Get the Speed Confidence.
template<typename AccelerationMagnitude>
double	etsi_its_cpm_ts_msgs::access::getAccelerationMagnitude (const AccelerationMagnitude &acceleration_magnitude)
	Get the AccelerationMagnitude value.
template<typename AccelerationMagnitude>
double	etsi_its_cpm_ts_msgs::access::getAccelerationMagnitudeConfidence (const AccelerationMagnitude &acceleration_magnitude)
	Get the AccelerationMagnitude Confidence.
template<typename T>
gm::PointStamped	etsi_its_cpm_ts_msgs::access::getUTMPosition (const T &reference_position, int &zone, bool &northp)
	Get the UTM Position defined by the given ReferencePosition.
template<typename Heading>
double	etsi_its_cpm_ts_msgs::access::getHeadingCDD (const Heading &heading)
	Get the Heading value.
template<typename Heading>
double	etsi_its_cpm_ts_msgs::access::getHeadingConfidenceCDD (const Heading &heading)
	Get the Heading value.
template<typename YawRate>
double	etsi_its_cpm_ts_msgs::access::getYawRateCDD (const YawRate &yaw_rate)
	Get the Yaw Rate value.
template<typename YawRate, typename YawRateConfidence = decltype(YawRate::yaw_rate_confidence)>
double	etsi_its_cpm_ts_msgs::access::getYawRateConfidenceCDD (const YawRate &yaw_rate)
	Get the Yaw Rate Confidence.
template<typename SemiAxisLength>
double	etsi_its_cpm_ts_msgs::access::getSemiAxis (const SemiAxisLength &semi_axis_length)
	Get the Semi Axis object.
template<typename PosConfidenceEllipse>
std::tuple< double, double, double >	etsi_its_cpm_ts_msgs::access::getPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse)
	Extract major axis length, minor axis length and orientation from the given position confidence ellipse.
std::array< double, 4 >	etsi_its_cpm_ts_msgs::access::CovMatrixFromConfidenceEllipse (double semi_major, double semi_minor, double major_orientation, const double object_heading)
	Convert the confidence ellipse to a covariance matrix.
std::array< double, 4 >	etsi_its_cpm_ts_msgs::access::WGSCovMatrixFromConfidenceEllipse (double semi_major, double semi_minor, double major_orientation)
	Convert the confidence ellipse to a covariance matrix.
template<typename PosConfidenceEllipse>
std::array< double, 4 >	etsi_its_cpm_ts_msgs::access::getPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse, const double object_heading)
	Get the covariance matrix of the position confidence ellipse.
template<typename PosConfidenceEllipse>
std::array< double, 4 >	etsi_its_cpm_ts_msgs::access::getWGSPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse)
	Get the covariance matrix of the position confidence ellipse.
double	etsi_its_cpm_ts_msgs::access::getLongitudinalAcceleration (const AccelerationComponent &longitudinal_acceleration)
	Get the longitudinal acceleration.
double	etsi_its_cpm_ts_msgs::access::getLongitudinalAccelerationConfidence (const AccelerationComponent &longitudinal_acceleration)
	Get the Longitudinal Acceleration Confidence.
double	etsi_its_cpm_ts_msgs::access::getLateralAcceleration (const AccelerationComponent &lateral_acceleration)
	Get the lateral acceleration.
double	etsi_its_cpm_ts_msgs::access::getLateralAccelerationConfidence (const AccelerationComponent &lateral_acceleration)
	Get the Lateral Acceleration Confidence.
template<typename PositionConfidenceEllipse>
std::tuple< double, double, double >	etsi_its_cpm_ts_msgs::access::getPositionConfidenceEllipse (PositionConfidenceEllipse &position_confidence_ellipse)
	Extract major axis length, minor axis length and orientation from the given position confidence ellipse.
template<typename PositionConfidenceEllipse>
std::array< double, 4 >	etsi_its_cpm_ts_msgs::access::getPositionConfidenceEllipse (const PositionConfidenceEllipse &position_confidence_ellipse, const double object_heading)
	Get the covariance matrix of the position confidence ellipse.
template<typename PositionConfidenceEllipse>
std::array< double, 4 >	etsi_its_cpm_ts_msgs::access::getWGSPositionConfidenceEllipse (const PositionConfidenceEllipse &position_confidence_ellipse)
	Get the covariance matrix of the position confidence ellipse.
uint32_t	etsi_its_cpm_ts_msgs::access::getStationID (const CollectivePerceptionMessage &cpm)
	Retrieves the station ID from the given CPM.
TimestampIts	etsi_its_cpm_ts_msgs::access::getReferenceTime (const CollectivePerceptionMessage &cpm)
	Get the Reference Time object.
uint64_t	etsi_its_cpm_ts_msgs::access::getReferenceTimeValue (const CollectivePerceptionMessage &cpm)
	Get the ReferenceTime-Value.
double	etsi_its_cpm_ts_msgs::access::getLatitude (const CollectivePerceptionMessage &cpm)
	Get the Latitude value of CPM.
double	etsi_its_cpm_ts_msgs::access::getLongitude (const CollectivePerceptionMessage &cpm)
	Get the Longitude value of CPM.
double	etsi_its_cpm_ts_msgs::access::getAltitude (const CollectivePerceptionMessage &cpm)
	Get the Altitude value of CPM.
gm::PointStamped	etsi_its_cpm_ts_msgs::access::getUTMPosition (const CollectivePerceptionMessage &cpm, int &zone, bool &northp)
	Get the UTM Position defined within the ManagementContainer of the CPM.
gm::PointStamped	etsi_its_cpm_ts_msgs::access::getUTMPosition (const CollectivePerceptionMessage &cpm)
	Get the UTM Position defined within the ManagementContainer of the CPM.
std::vector< uint8_t >	etsi_its_cpm_ts_msgs::access::getCpmContainerIds (const CollectivePerceptionMessage &cpm)
	Retrieves the container IDs from a CPM.
WrappedCpmContainer	etsi_its_cpm_ts_msgs::access::getCpmContainer (const CollectivePerceptionMessage &cpm, const uint8_t container_id)
WrappedCpmContainer	etsi_its_cpm_ts_msgs::access::getPerceivedObjectContainer (const CollectivePerceptionMessage &cpm)
	Retrieves the perceived object container from a CPM.
uint8_t	etsi_its_cpm_ts_msgs::access::getNumberOfPerceivedObjects (const WrappedCpmContainer &container)
uint8_t	etsi_its_cpm_ts_msgs::access::getNumberOfPerceivedObjects (const CollectivePerceptionMessage &cpm)
PerceivedObject	etsi_its_cpm_ts_msgs::access::getPerceivedObject (const WrappedCpmContainer &container, const uint8_t i)
	Retrieves the PerceivedObject at the specified index from the given WrappedCpmContainer.
uint16_t	etsi_its_cpm_ts_msgs::access::getIdOfPerceivedObject (const PerceivedObject &object)
	Retrieves the ID of a perceived object.
int32_t	etsi_its_cpm_ts_msgs::access::getCartesianCoordinate (const CartesianCoordinateWithConfidence &coordinate)
	Retrieves the Cartesian coordinate value from a CartesianCoordinateWithConfidence object.
uint16_t	etsi_its_cpm_ts_msgs::access::getCartesianCoordinateConfidence (const CartesianCoordinateWithConfidence &coordinate)
	Retrieves the confidence value from a CartesianCoordinateWithConfidence object.
gm::Point	etsi_its_cpm_ts_msgs::access::getPositionOfPerceivedObject (const PerceivedObject &object)
std::tuple< double, double, double >	etsi_its_cpm_ts_msgs::access::getPositionConfidenceOfPerceivedObject (const PerceivedObject &object)
	Get the Position Confidences Of Perceived Object.
uint16_t	etsi_its_cpm_ts_msgs::access::getCartesianAngle (const CartesianAngle &angle)
	Get the Cartesian angle of the PerceivedObject.
uint8_t	etsi_its_cpm_ts_msgs::access::getCartesianAngleConfidence (const CartesianAngle &angle)
	Get the confidence of the Cartesian angle.
gm::Quaternion	etsi_its_cpm_ts_msgs::access::getOrientationOfPerceivedObject (const PerceivedObject &object)
	Calculates the orientation of a perceived object.
double	etsi_its_cpm_ts_msgs::access::getYawOfPerceivedObject (const PerceivedObject &object)
	Get the yaw of the PerceivedObject.
double	etsi_its_cpm_ts_msgs::access::getYawConfidenceOfPerceivedObject (const PerceivedObject &object)
	Get the Yaw Confidence Of Perceived Object object.
gm::Pose	etsi_its_cpm_ts_msgs::access::getPoseOfPerceivedObject (const PerceivedObject &object)
	Get the pose of the PerceivedObject.
double	etsi_its_cpm_ts_msgs::access::getYawRateOfPerceivedObject (const PerceivedObject &object)
	Get the yaw rate of the PerceivedObject.
double	etsi_its_cpm_ts_msgs::access::getYawRateConfidenceOfPerceivedObject (const PerceivedObject &object)
	Get the Yaw Rate Confidence Of Perceived Object.
double	etsi_its_cpm_ts_msgs::access::getVelocityComponent (const VelocityComponent &velocity)
	Get the velocity component of the PerceivedObject.
double	etsi_its_cpm_ts_msgs::access::getVelocityComponentConfidence (const VelocityComponent &velocity)
	Get the confidence of the velocity component.
gm::Vector3	etsi_its_cpm_ts_msgs::access::getCartesianVelocityOfPerceivedObject (const PerceivedObject &object)
	Get the Cartesian velocity of the PerceivedObject.
std::tuple< double, double, double >	etsi_its_cpm_ts_msgs::access::getCartesianVelocityConfidenceOfPerceivedObject (const PerceivedObject &object)
	Get the Cartesian Velocity Confidence Of Perceived Object object.
double	etsi_its_cpm_ts_msgs::access::getAccelerationComponent (const AccelerationComponent &acceleration)
	Get the acceleration component of the PerceivedObject.
double	etsi_its_cpm_ts_msgs::access::getAccelerationComponentConfidence (const AccelerationComponent &acceleration)
	Get the confidence of the acceleration component.
gm::Vector3	etsi_its_cpm_ts_msgs::access::getCartesianAccelerationOfPerceivedObject (const PerceivedObject &object)
	Get the Cartesian acceleration of the PerceivedObject.
std::tuple< double, double, double >	etsi_its_cpm_ts_msgs::access::getCartesianAccelerationConfidenceOfPerceivedObject (const PerceivedObject &object)
	Get the Cartesian Acceleration Confidence Of Perceived Object.
uint16_t	etsi_its_cpm_ts_msgs::access::getXDimensionOfPerceivedObject (const PerceivedObject &object)
	Gets the x-dimension of a perceived object.
uint8_t	etsi_its_cpm_ts_msgs::access::getXDimensionConfidenceOfPerceivedObject (const PerceivedObject &object)
	Gets the confidence of the x-dimension of a perceived object.
uint16_t	etsi_its_cpm_ts_msgs::access::getYDimensionOfPerceivedObject (const PerceivedObject &object)
	Retrieves the y-dimension of a perceived object.
uint8_t	etsi_its_cpm_ts_msgs::access::getYDimensionConfidenceOfPerceivedObject (const PerceivedObject &object)
	Gets the confidence of the y-dimension of a perceived object.
uint16_t	etsi_its_cpm_ts_msgs::access::getZDimensionOfPerceivedObject (const PerceivedObject &object)
	Retrieves the z-dimension of a perceived object.
uint8_t	etsi_its_cpm_ts_msgs::access::getZDimensionConfidenceOfPerceivedObject (const PerceivedObject &object)
	Gets the confidence of the z-dimension of a perceived object.
gm::Vector3	etsi_its_cpm_ts_msgs::access::getDimensionsOfPerceivedObject (const PerceivedObject &object)
	Retrieves the dimensions of a perceived object.
std::tuple< double, double, double >	etsi_its_cpm_ts_msgs::access::getDimensionsConfidenceOfPerceivedObject (const PerceivedObject &object)
	Get the Dimensions Confidence Of Perceived Object.
gm::PointStamped	etsi_its_cpm_ts_msgs::access::getUTMPositionOfPerceivedObject (const CollectivePerceptionMessage &cpm, const PerceivedObject &object)
	Calculates the UTM position of a perceived object based on the CPMs referencep position.
const std::array< double, 4 >	etsi_its_cpm_ts_msgs::access::getWGSRefPosConfidence (const CollectivePerceptionMessage &cpm)
	Get the confidence ellipse of the reference position as Covariance matrix.
uint8_t	etsi_its_cpm_ts_msgs::access::getSensorID (const SensorInformation &sensor_information)
	Get the sensorId of a SensorInformation object.
uint8_t	etsi_its_cpm_ts_msgs::access::getSensorType (const SensorInformation &sensor_information)
	Get the sensorType of a SensorInformation object.

Detailed Description

Getter functions for the ETSI ITS CPM (TS).

Definition in file cpm_ts_getters.h.

Function Documentation

CovMatrixFromConfidenceEllipse()

std::array< double, 4 > etsi_its_cpm_ts_msgs::access::CovMatrixFromConfidenceEllipse ( double semi_major, double semi_minor, double major_orientation, const double object_heading )

inline

Convert the confidence ellipse to a covariance matrix.

Note that the major_orientation is given in degrees, while the object_heading is given in radians!

Parameters

semi_major	Semi major axis length in meters
semi_minor	Semi minor axis length in meters
major_orientation	Orientation of the major axis in degrees, relative to WGS84
object_heading	object heading in radians, relative to WGS84

Returns

std::array<double, 4> The covariance matrix in vehicle coordinates (x = longitudinal, y = lateral)

Definition at line 244 of file cpm_ts_getters.h.

                                                                                                      {
  return coordinate.confidence.value;
}

inline gm::Point getPositionOfPerceivedObject(const PerceivedObject &object) {
  gm::Point point;
  point.x = double(getCartesianCoordinate(object.position.x_coordinate)) / 100.0;

getAccelerationComponent()

double etsi_its_cpm_ts_msgs::access::getAccelerationComponent ( const AccelerationComponent & acceleration )

inline

Get the acceleration component of the PerceivedObject.

Parameters

acceleration

AccelerationComponent to get the value from

Returns

double value of the acceleration component in m/s^2

Definition at line 506 of file cpm_ts_getters.h.

                                                                                  {
  return double(acceleration.value.value) / 10.0;
}

getAccelerationComponentConfidence()

double etsi_its_cpm_ts_msgs::access::getAccelerationComponentConfidence ( const AccelerationComponent & acceleration )

inline

Get the confidence of the acceleration component.

Parameters

acceleration

AccelerationComponent to get the confidence from

Returns

double value of the confidence of the acceleration component in m/s^2

Definition at line 516 of file cpm_ts_getters.h.

                                                                                            {
  return double(acceleration.confidence.value) / 10.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
}

getAccelerationMagnitude()

template<typename AccelerationMagnitude>

double etsi_its_cpm_ts_msgs::access::getAccelerationMagnitude ( const AccelerationMagnitude & acceleration_magnitude )

inline

Get the AccelerationMagnitude value.

Parameters

acceleration_magnitude

to get the AccelerationMagnitude from

Returns

double acceleration magnitude in m/s^2 as decimal number

Definition at line 103 of file cpm_ts_getters.h.

getAccelerationMagnitudeConfidence()

template<typename AccelerationMagnitude>

double etsi_its_cpm_ts_msgs::access::getAccelerationMagnitudeConfidence ( const AccelerationMagnitude & acceleration_magnitude )

inline

Get the AccelerationMagnitude Confidence.

Parameters

acceleration_magnitude

to get the AccelerationMagnitudeConfidence from

Returns

double acceleration magnitude standard deviation in m/s^2 as decimal number

Definition at line 114 of file cpm_ts_getters.h.

getAltitude() [1/2]

double etsi_its_cpm_ts_msgs::access::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 (0 if unavailable)

Definition at line 71 of file cpm_ts_getters.h.

                                                                  {
  return getLatitude(cpm.payload.management_container.reference_position.latitude);
}

getAltitude() [2/2]

double etsi_its_cpm_ts_msgs::access::getAltitude ( const CollectivePerceptionMessage & cpm )

inline

Get the Altitude value of CPM.

Parameters

cpm	CPM to get the Altitude value from

Returns

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

Definition at line 94 of file cpm_ts_getters.h.

                                                                  {
  return getAltitude(cpm.payload.management_container.reference_position.altitude);
}

getCartesianAccelerationConfidenceOfPerceivedObject()

std::tuple< double, double, double > etsi_its_cpm_ts_msgs::access::getCartesianAccelerationConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Get the Cartesian Acceleration Confidence Of Perceived Object.

Parameters

object

PerceivedObject to get the Cartesian acceleration from

Returns

std::tuple<double, double, double> the x,y and z standard deviations of the acceleration in m/s^2 The z standard deviation is infinity if the z acceleration is not present.

Exceptions

std::invalid_argument

If the acceleration is no cartesian acceleration.

Definition at line 562 of file cpm_ts_getters.h.

                                                                                                                           {
  if (!object.acceleration_is_present) throw std::invalid_argument("No acceleration present in PerceivedObject");
 
  if (object.acceleration.choice == Acceleration3dWithConfidence::CHOICE_CARTESIAN_ACCELERATION) {
    double x_confidence = getAccelerationComponentConfidence(object.acceleration.cartesian_acceleration.x_acceleration);
    double y_confidence = getAccelerationComponentConfidence(object.acceleration.cartesian_acceleration.y_acceleration);
    double z_confidence = object.acceleration.cartesian_acceleration.z_acceleration_is_present
                              ? getAccelerationComponentConfidence(object.acceleration.cartesian_acceleration.z_acceleration)
                              : std::numeric_limits<double>::infinity();
    return std::make_tuple(x_confidence, y_confidence, z_confidence);
  } else if (object.acceleration.choice == Acceleration3dWithConfidence::CHOICE_POLAR_ACCELERATION) {
    double magnitude_confidence = getAccelerationMagnitudeConfidence(object.acceleration.polar_acceleration.acceleration_magnitude);
    double angle_confidence = getCartesianAngleConfidence(object.acceleration.polar_acceleration.acceleration_direction) * M_PI / 180.0 / 10.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR; // convert to radians
    double magnitude = getAccelerationMagnitude(object.acceleration.polar_acceleration.acceleration_magnitude);
    double angle = getCartesianAngle(object.acceleration.polar_acceleration.acceleration_direction) * M_PI / 180.0 / 10.0; // convert to radians
    double lateral_confidence = magnitude * angle_confidence; // best approximation
    double x_confidence = magnitude_confidence * cos(angle) * cos(angle)
                          + lateral_confidence * sin(angle) * sin(angle);
    double y_confidence = magnitude_confidence * sin(angle) * sin(angle)
                          + lateral_confidence * cos(angle) * cos(angle);
    // neglect xy covariance, as it is not present in the output of this function
    double z_confidence = object.acceleration.polar_acceleration.z_acceleration_is_present
                              ? getAccelerationComponentConfidence(object.acceleration.polar_acceleration.z_acceleration)
                              : std::numeric_limits<double>::infinity();
    return std::make_tuple(x_confidence, y_confidence, z_confidence);
  } else {
    throw std::invalid_argument("Acceleration is neither Cartesian nor Polar");
  }
}

getCartesianAccelerationOfPerceivedObject()

gm::Vector3 etsi_its_cpm_ts_msgs::access::getCartesianAccelerationOfPerceivedObject ( const PerceivedObject & object )

inline

Get the Cartesian acceleration of the PerceivedObject.

Parameters

object

PerceivedObject to get the Cartesian acceleration from

Returns

gm::Vector3 Cartesian acceleration of the PerceivedObject in m/s^2 (local coordinate system)

Exceptions

std::invalid_argument

If the acceleration is no cartesian acceleration.

Definition at line 527 of file cpm_ts_getters.h.

                                                                                          {
  if (!object.acceleration_is_present) {
    throw std::invalid_argument("No acceleration present in PerceivedObject");
  }
  gm::Vector3 acceleration;
 
  if (object.acceleration.choice == Acceleration3dWithConfidence::CHOICE_CARTESIAN_ACCELERATION) {
    acceleration.x = getAccelerationComponent(object.acceleration.cartesian_acceleration.x_acceleration);
    acceleration.y = getAccelerationComponent(object.acceleration.cartesian_acceleration.y_acceleration);
    if (object.acceleration.cartesian_acceleration.z_acceleration_is_present) {
      acceleration.z = getAccelerationComponent(object.acceleration.cartesian_acceleration.z_acceleration);
    }
  } else if (object.acceleration.choice == Acceleration3dWithConfidence::CHOICE_POLAR_ACCELERATION) {
    double magnitude = getAccelerationMagnitude(object.acceleration.polar_acceleration.acceleration_magnitude);
    double angle = getCartesianAngle(object.acceleration.polar_acceleration.acceleration_direction) * M_PI / 180.0 / 10.0; // convert to radians
    acceleration.x = magnitude * cos(angle);
    acceleration.y = magnitude * sin(angle);
    if (object.acceleration.polar_acceleration.z_acceleration_is_present) {
      acceleration.z = getAccelerationComponent(object.acceleration.polar_acceleration.z_acceleration);
    }
  } else {
    throw std::invalid_argument("Acceleration is neither Cartesian nor Polar");
  }
 
  return acceleration;
}

getCartesianAngle()

uint16_t etsi_its_cpm_ts_msgs::access::getCartesianAngle ( const CartesianAngle & angle )

inline

Get the Cartesian angle of the PerceivedObject.

Parameters

object

PerceivedObject to get the Cartesian angle from

Returns

unit16_t Cartesian angle of the PerceivedObject in 0,1 degrees

Definition at line 291 of file cpm_ts_getters.h.

{ return angle.value.value; }

getCartesianAngleConfidence()

uint8_t etsi_its_cpm_ts_msgs::access::getCartesianAngleConfidence ( const CartesianAngle & angle )

inline

Get the confidence of the Cartesian angle.

Parameters

angle

CartesianAngle to get the confidence from

Returns

uint8_t confidence of the Cartesian angle in 0,1 degrees

Definition at line 299 of file cpm_ts_getters.h.

{ return angle.confidence.value; }

getCartesianCoordinate()

int32_t etsi_its_cpm_ts_msgs::access::getCartesianCoordinate ( const CartesianCoordinateWithConfidence & coordinate )

inline

Retrieves the Cartesian coordinate value from a CartesianCoordinateWithConfidence object.

Parameters

coordinate

The CartesianCoordinateWithConfidence object from which to retrieve the value.

Returns

The Cartesian coordinate value in centimeters.

Definition at line 239 of file cpm_ts_getters.h.

                                                                                           {
  return coordinate.value.value;
}

getCartesianCoordinateConfidence()

uint16_t etsi_its_cpm_ts_msgs::access::getCartesianCoordinateConfidence ( const CartesianCoordinateWithConfidence & coordinate )

inline

Retrieves the confidence value from a CartesianCoordinateWithConfidence object.

Parameters

coordinate

The CartesianCoordinateWithConfidence object from which to retrieve the confidence value.

Returns

The confidence value of the CartesianCoordinateWithConfidence object in centimeters.

Definition at line 249 of file cpm_ts_getters.h.

                                                                                                      {
  return coordinate.confidence.value;
}

getCartesianVelocityConfidenceOfPerceivedObject()

std::tuple< double, double, double > etsi_its_cpm_ts_msgs::access::getCartesianVelocityConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Get the Cartesian Velocity Confidence Of Perceived Object object.

Parameters

object

PerceivedObject to get the Cartesian velocity from

Returns

std::tuple<double, double, double> the x,y and z standard deviations of the velocity in m/s The z standard deviation is infinity if the z velocity is not present.

Exceptions

std::invalid_argument

If the velocity is no cartesian velocity.

Definition at line 468 of file cpm_ts_getters.h.

                                                                                                                       {
  if (!object.velocity_is_present) {
    throw std::invalid_argument("No velocity present in PerceivedObject");
  }
  if (object.velocity.choice == Velocity3dWithConfidence::CHOICE_POLAR_VELOCITY) {
    double speed_confidence = getSpeedConfidence(object.velocity.polar_velocity.velocity_magnitude);
    double angle_confidence = getCartesianAngleConfidence(object.velocity.polar_velocity.velocity_direction) * M_PI / 180.0 / 10.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR; // convert to radians
    double speed = getSpeed(object.velocity.polar_velocity.velocity_magnitude);
    double angle = getCartesianAngle(object.velocity.polar_velocity.velocity_direction) * M_PI / 180.0 / 10.0; // convert to radians
    double lateral_confidence = speed * angle_confidence; // not exactly, but best approximation
    double x_confidence = speed_confidence * cos(angle) * cos(angle) 
                          + lateral_confidence * sin(angle) * sin(angle);
    double y_confidence = speed_confidence * sin(angle) * sin(angle)
                          + lateral_confidence * cos(angle) * cos(angle);
    // neglect xy covariance, as it is not present in the output of this function
    double z_confidence = object.velocity.polar_velocity.z_velocity_is_present
                              ? getVelocityComponentConfidence(object.velocity.polar_velocity.z_velocity)
                              : std::numeric_limits<double>::infinity();
    return std::make_tuple(x_confidence, y_confidence, z_confidence);
  } else if (object.velocity.choice == Velocity3dWithConfidence::CHOICE_CARTESIAN_VELOCITY) {
    double x_confidence = getVelocityComponentConfidence(object.velocity.cartesian_velocity.x_velocity);
    double y_confidence = getVelocityComponentConfidence(object.velocity.cartesian_velocity.y_velocity);
    double z_confidence = object.velocity.cartesian_velocity.z_velocity_is_present
                              ? getVelocityComponentConfidence(object.velocity.cartesian_velocity.z_velocity)
                              : std::numeric_limits<double>::infinity();
    return std::make_tuple(x_confidence, y_confidence, z_confidence);
  } else {
    throw std::invalid_argument("Velocity is neither Polar nor Cartesian");
  }
  
}

getCartesianVelocityOfPerceivedObject()

gm::Vector3 etsi_its_cpm_ts_msgs::access::getCartesianVelocityOfPerceivedObject ( const PerceivedObject & object )

inline

Get the Cartesian velocity of the PerceivedObject.

Parameters

object

PerceivedObject to get the Cartesian velocity from

Returns

gm::Vector3 Cartesian velocity of the PerceivedObject in m/s (local coordinate system)

Exceptions

std::invalid_argument

If the velocity is no cartesian velocity.

Definition at line 435 of file cpm_ts_getters.h.

                                                                                      {
  if (!object.velocity_is_present) {
    throw std::invalid_argument("No velocity present in PerceivedObject");
  }
  gm::Vector3 velocity;
  if (object.velocity.choice == Velocity3dWithConfidence::CHOICE_POLAR_VELOCITY) {
    double speed = getSpeed(object.velocity.polar_velocity.velocity_magnitude);
    double angle = getCartesianAngle(object.velocity.polar_velocity.velocity_direction) * M_PI / 180.0 / 10.0; // convert to radians
    velocity.x = speed * cos(angle);
    velocity.y = speed * sin(angle);
    if (object.velocity.polar_velocity.z_velocity_is_present) {
      velocity.z = getVelocityComponent(object.velocity.polar_velocity.z_velocity);
    }
  } else if (object.velocity.choice == Velocity3dWithConfidence::CHOICE_CARTESIAN_VELOCITY) {
    velocity.x = getVelocityComponent(object.velocity.cartesian_velocity.x_velocity);
    velocity.y = getVelocityComponent(object.velocity.cartesian_velocity.y_velocity);
    if (object.velocity.cartesian_velocity.z_velocity_is_present) {
      velocity.z = getVelocityComponent(object.velocity.cartesian_velocity.z_velocity);
    }
  } else {
    throw std::invalid_argument("Velocity is neither Polar nor Cartesian");
  }
  return velocity;
}

getCpmContainer()

WrappedCpmContainer etsi_its_cpm_ts_msgs::access::getCpmContainer ( const CollectivePerceptionMessage & cpm, const uint8_t container_id )

inline

Retrieves the CpmContainer with the specified container ID from the CPM.

Parameters

cpm	The CPM from which to retrieve the CpmContainer.
container_id	The ID of the CpmContainer to retrieve.

Returns

The CpmContainer with the specified container ID.

Exceptions

std::invalid_argument

if no CpmContainer with the specified ID is found in the CPM.

Definition at line 153 of file cpm_ts_getters.h.

                                                                                                               {
  for (int i = 0; i < cpm.payload.cpm_containers.value.array.size(); i++) {
    if (cpm.payload.cpm_containers.value.array[i].container_id.value == container_id) {
      return cpm.payload.cpm_containers.value.array[i];
    }
  }
  throw std::invalid_argument("No Container with ID " + std::to_string(container_id) + " found in CPM");
}

getCpmContainerIds()

std::vector< uint8_t > etsi_its_cpm_ts_msgs::access::getCpmContainerIds ( const CollectivePerceptionMessage & cpm )

inline

Retrieves the container IDs from a CPM.

This function iterates over the cpm_containers array in the given CPM and extracts the container IDs into a vector of uint8_t.

Parameters

cpm	The CPM from which to retrieve the container IDs.

Returns

A vector containing the container IDs.

Definition at line 137 of file cpm_ts_getters.h.

                                                                                     {
  std::vector<uint8_t> container_ids;
  for (int i = 0; i < cpm.payload.cpm_containers.value.array.size(); i++) {
    container_ids.push_back(cpm.payload.cpm_containers.value.array[i].container_id.value);
  }
  return container_ids;
}

getDimensionsConfidenceOfPerceivedObject()

std::tuple< double, double, double > etsi_its_cpm_ts_msgs::access::getDimensionsConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Get the Dimensions Confidence Of Perceived Object.

Parameters

object

The PerceivedObject to get the dimensions confidence from

Returns

std::tuple<double, double, double> the x,y and z standard deviations of the dimensions in meters

Definition at line 699 of file cpm_ts_getters.h.

                                                                                                                {
  double conf_x = double(getXDimensionConfidenceOfPerceivedObject(object)) / 10.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
  double conf_y = double(getYDimensionConfidenceOfPerceivedObject(object)) / 10.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
  double conf_z = double(getZDimensionConfidenceOfPerceivedObject(object)) / 10.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
  return {conf_x, conf_y, conf_z};
}

getDimensionsOfPerceivedObject()

gm::Vector3 etsi_its_cpm_ts_msgs::access::getDimensionsOfPerceivedObject ( const PerceivedObject & object )

inline

Retrieves the dimensions of a perceived object.

This function extracts the dimensions of a perceived object from the given PerceivedObject. The dimensions are returned as a gm::Vector3 object with the x, y, and z dimensions in meters.

Parameters

object

The PerceivedObject for which to calculate the dimensions.

Returns

The dimensions of the perceived object as a gm::Vector3 object in meters.

Definition at line 685 of file cpm_ts_getters.h.

                                                                               {
  gm::Vector3 dimensions;
  dimensions.x = double(getXDimensionOfPerceivedObject(object)) / 10.0;
  dimensions.y = double(getYDimensionOfPerceivedObject(object)) / 10.0;
  dimensions.z = double(getZDimensionOfPerceivedObject(object)) / 10.0;
  return dimensions;
}

getHeadingCDD()

template<typename Heading>

double etsi_its_cpm_ts_msgs::access::getHeadingCDD ( const Heading & heading )

inline

Get the Heading value.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters

heading

to get the Heading value from

Returns

Heading value in degree as decimal number

Definition at line 159 of file cpm_ts_getters.h.

getHeadingConfidenceCDD()

template<typename Heading>

double etsi_its_cpm_ts_msgs::access::getHeadingConfidenceCDD ( const Heading & heading )

inline

Get the Heading value.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters

heading

to get the Heading standard deviation from

Returns

Heading standard deviation in degree as decimal number

Definition at line 170 of file cpm_ts_getters.h.

{

getIdOfPerceivedObject()

uint16_t etsi_its_cpm_ts_msgs::access::getIdOfPerceivedObject ( const PerceivedObject & object )

inline

Retrieves the ID of a perceived object.

This function takes a PerceivedObject as input and returns the ID of the object.

Parameters

object

The PerceivedObject for which to retrieve the ID.

Returns

The ID of the perceived object.

Definition at line 226 of file cpm_ts_getters.h.

                                                                      {
  if (!object.object_id_is_present) {
    throw std::invalid_argument("No object_id present in PerceivedObject");
  }
  return object.object_id.value;
}

getLateralAcceleration()

double etsi_its_cpm_ts_msgs::access::getLateralAcceleration ( const AccelerationComponent & lateral_acceleration )

inline

Get the lateral acceleration.

Parameters

lateralAcceleration

to get the lateral acceleration from

Returns

lateral acceleration in m/s^2 as decimal number (left is positive)

Definition at line 65 of file cpm_ts_getters.h.

                                                                              { return getReferenceTime(cpm).value; }
 

getLateralAccelerationConfidence()

double etsi_its_cpm_ts_msgs::access::getLateralAccelerationConfidence ( const AccelerationComponent & lateral_acceleration )

inline

Get the Lateral Acceleration Confidence.

Parameters

lateral_acceleration

to get the LateralAccelerationConfidence from

Returns

double standard deviation of the lateral acceleration in m/s^2 as decimal number

Definition at line 75 of file cpm_ts_getters.h.

getLatitude() [1/2]

double etsi_its_cpm_ts_msgs::access::getLatitude ( const CollectivePerceptionMessage & cpm )

inline

Get the Latitude value of CPM.

Parameters

cpm	CPM to get the Latitude value from

Returns

Latitude value in degree as decimal number

Definition at line 74 of file cpm_ts_getters.h.

                                                                  {
  return getLatitude(cpm.payload.management_container.reference_position.latitude);
}

getLatitude() [2/2]

double etsi_its_cpm_ts_msgs::access::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 55 of file cpm_ts_getters.h.

getLongitude() [1/2]

double etsi_its_cpm_ts_msgs::access::getLongitude ( const CollectivePerceptionMessage & cpm )

inline

Get the Longitude value of CPM.

Parameters

cpm	CPM to get the Longitude value from

Returns

Longitude value in degree as decimal number

Definition at line 84 of file cpm_ts_getters.h.

                                                                   {
  return getLongitude(cpm.payload.management_container.reference_position.longitude);
}

getLongitude() [2/2]

double etsi_its_cpm_ts_msgs::access::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 63 of file cpm_ts_getters.h.

getLongitudinalAcceleration()

double etsi_its_cpm_ts_msgs::access::getLongitudinalAcceleration ( const AccelerationComponent & longitudinal_acceleration )

inline

Get the longitudinal acceleration.

Parameters

longitudinalAcceleration

to get the longitudinal acceleration from

Returns

longitudinal acceleration in m/s^2 as decimal number (left is positive)

Definition at line 45 of file cpm_ts_getters.h.

getLongitudinalAccelerationConfidence()

double etsi_its_cpm_ts_msgs::access::getLongitudinalAccelerationConfidence ( const AccelerationComponent & longitudinal_acceleration )

inline

Get the Longitudinal Acceleration Confidence.

Parameters

longitudinal_acceleration

to get the LongitudinalAccelerationConfidence from

Returns

double standard deviation of the longitudinal acceleration in m/s^2 as decimal number

Definition at line 55 of file cpm_ts_getters.h.

                                                                             {
  return cpm.payload.management_container.reference_time;

getNumberOfPerceivedObjects() [1/2]

uint8_t etsi_its_cpm_ts_msgs::access::getNumberOfPerceivedObjects ( const CollectivePerceptionMessage & cpm )

inline

Retrieves the number of perceived objects from the given CPM.

Parameters

cpm	The CPM from which to retrieve the number of perceived objects.

Returns

The number of perceived objects.

Definition at line 195 of file cpm_ts_getters.h.

                                                                                   {
  return getNumberOfPerceivedObjects(getPerceivedObjectContainer(cpm));
}

getNumberOfPerceivedObjects() [2/2]

uint8_t etsi_its_cpm_ts_msgs::access::getNumberOfPerceivedObjects ( const WrappedCpmContainer & container )

inline

Retrieves the number of perceived objects from the given perceived object container.

Parameters

container

The perceived object container to retrieve the number of perceived objects from.

Returns

The number of perceived objects.

Exceptions

std::invalid_argument

if the container is not a PerceivedObjectContainer.

Definition at line 181 of file cpm_ts_getters.h.

                                                                                 {
  if (container.container_id.value != WrappedCpmContainer::CHOICE_CONTAINER_DATA_PERCEIVED_OBJECT_CONTAINER) {
    throw std::invalid_argument("Container is not a PerceivedObjectContainer");
  }
  uint8_t number = container.container_data_perceived_object_container.number_of_perceived_objects.value;
  return number;
}

getOrientationOfPerceivedObject()

gm::Quaternion etsi_its_cpm_ts_msgs::access::getOrientationOfPerceivedObject ( const PerceivedObject & object )

inline

Calculates the orientation of a perceived object.

This function calculates the orientation of a perceived object based on the angles provided in the PerceivedObject structure. The angles are converted to radians and used to set the roll, pitch, and yaw values of a tf2::Quaternion object. The resulting quaternion is then converted to a gm::Quaternion message and returned.

Parameters

object

The PerceivedObject structure containing the angles of the perceived object.

Returns

gm::Quaternion The orientation of the perceived object in radians from -pi to pi.

Definition at line 311 of file cpm_ts_getters.h.

                                                                                   {
  if (!object.angles_is_present) throw std::invalid_argument("No angles present in PerceivedObject");
  tf2::Quaternion q;
  double roll{0}, pitch{0}, yaw{0};
 
  if (object.angles.x_angle_is_present) {
    roll = (((double(getCartesianAngle(object.angles.x_angle)) / 10.0) ) / 180.0) *
           M_PI;
  }
  if (object.angles.y_angle_is_present) {
    pitch = (((double(getCartesianAngle(object.angles.y_angle)) / 10.0) ) / 180.0) *
            M_PI;
  }
  yaw = (((double(getCartesianAngle(object.angles.z_angle)) / 10.0)) / 180.0) *
        M_PI;
  // This wraps from -pi ti pi because setRPY only uses cos and sin of the angles
  q.setRPY(roll, pitch, yaw);
 
  return tf2::toMsg(q);
}

getPerceivedObject()

PerceivedObject etsi_its_cpm_ts_msgs::access::getPerceivedObject ( const WrappedCpmContainer & container, const uint8_t i )

inline

Retrieves the PerceivedObject at the specified index from the given WrappedCpmContainer.

Parameters

container	The WrappedCpmContainer from which to retrieve the PerceivedObject (should be a PerceivedObjectContainer).
i	The index of the PerceivedObject to retrieve.

Returns

The PerceivedObject at the specified index.

Exceptions

std::invalid_argument

if the index is out of range.

Definition at line 211 of file cpm_ts_getters.h.

                                                                                                 {
  if (i >= getNumberOfPerceivedObjects(container)) {
    throw std::invalid_argument("Index out of range");
  }
  return container.container_data_perceived_object_container.perceived_objects.array[i];
}

getPerceivedObjectContainer()

WrappedCpmContainer etsi_its_cpm_ts_msgs::access::getPerceivedObjectContainer ( const CollectivePerceptionMessage & cpm )

inline

Retrieves the perceived object container from a CPM.

This function returns the perceived object container from the given CPM.

Parameters

cpm	The CPM from which to retrieve the perceived object container.

Returns

The perceived object container.

Definition at line 170 of file cpm_ts_getters.h.

                                                                                               {
  return getCpmContainer(cpm, WrappedCpmContainer::CHOICE_CONTAINER_DATA_PERCEIVED_OBJECT_CONTAINER);
}

getPosConfidenceEllipse() [1/2]

template<typename PosConfidenceEllipse>

std::tuple< double, double, double > etsi_its_cpm_ts_msgs::access::getPosConfidenceEllipse ( const PosConfidenceEllipse & position_confidence_ellipse )

inline

Extract major axis length, minor axis length and orientation from the given position confidence ellipse.

Parameters

position_confidence_ellipse

The position confidence ellipse to extract the values from

Returns

std::tuple<double, double, double> major axis length in meters, minor axis length in meters, and orientation in degrees

Definition at line 225 of file cpm_ts_getters.h.

                                                                      {
  if (!object.object_id_is_present) {
    throw std::invalid_argument("No object_id present in PerceivedObject");
  }
  return object.object_id.value;
}

getPosConfidenceEllipse() [2/2]

template<typename PosConfidenceEllipse>

std::array< double, 4 > etsi_its_cpm_ts_msgs::access::getPosConfidenceEllipse ( const PosConfidenceEllipse & position_confidence_ellipse, const double object_heading )

inline

Get the covariance matrix of the position confidence ellipse.

Parameters

position_confidence_ellipse	The position confidence ellipse to get the covariance matrix from
object_heading	The object heading in radians

Returns

std::array<double, 4> The covariance matrix of the position confidence ellipse in vehicle coordinates (x = longitudinal, y = lateral)

Definition at line 286 of file cpm_ts_getters.h.

getPoseOfPerceivedObject()

gm::Pose etsi_its_cpm_ts_msgs::access::getPoseOfPerceivedObject ( const PerceivedObject & object )

inline

Get the pose of the PerceivedObject.

Parameters

object

PerceivedObject to get the pose from

Returns

gm::Pose pose of the PerceivedObject (position in m, orientation in rad)

Definition at line 366 of file cpm_ts_getters.h.

                                                                      {
  gm::Pose pose;
  pose.position = getPositionOfPerceivedObject(object);
  pose.orientation = getOrientationOfPerceivedObject(object);
  return pose;
}

getPositionConfidenceEllipse() [1/2]

template<typename PositionConfidenceEllipse>

std::array< double, 4 > etsi_its_cpm_ts_msgs::access::getPositionConfidenceEllipse ( const PositionConfidenceEllipse & position_confidence_ellipse, const double object_heading )

inline

Get the covariance matrix of the position confidence ellipse.

Parameters

position_confidence_ellipse	The position confidence ellipse to get the covariance matrix from
object_heading	The object heading in radians

Returns

std::array<double, 4> The covariance matrix of the position confidence ellipse in vehicle coordinates (x = longitudinal, y = lateral)

Definition at line 103 of file cpm_ts_getters.h.

getPositionConfidenceEllipse() [2/2]

template<typename PositionConfidenceEllipse>

std::tuple< double, double, double > etsi_its_cpm_ts_msgs::access::getPositionConfidenceEllipse ( PositionConfidenceEllipse & position_confidence_ellipse )

inline

Extract major axis length, minor axis length and orientation from the given position confidence ellipse.

Parameters

position_confidence_ellipse

The position confidence ellipse to extract the values from

Returns

std::tuple<double, double, double> major axis length in meters, minor axis length in meters, and orientation in degrees

Definition at line 87 of file cpm_ts_getters.h.

getPositionConfidenceOfPerceivedObject()

std::tuple< double, double, double > etsi_its_cpm_ts_msgs::access::getPositionConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Get the Position Confidences Of Perceived Object.

Parameters

object

The PerceivedObject to get the position confidences from

Returns

std::tuple<double, double, double> x,y and z standard deviations of the positions in meters. The z standard deviation is infinity if the z coordinate is not present.

Definition at line 276 of file cpm_ts_getters.h.

                                                                                                              {
  double x_confidence = double(getCartesianCoordinateConfidence(object.position.x_coordinate)) / 100.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
  double y_confidence = double(getCartesianCoordinateConfidence(object.position.y_coordinate)) / 100.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR;
  double z_confidence = object.position.z_coordinate_is_present
                            ? double(getCartesianCoordinateConfidence(object.position.z_coordinate)) / 100.0 / etsi_its_msgs::ONE_D_GAUSSIAN_FACTOR
                            : std::numeric_limits<double>::infinity();
  return std::make_tuple(x_confidence, y_confidence, z_confidence);
}

getPositionOfPerceivedObject()

gm::Point etsi_its_cpm_ts_msgs::access::getPositionOfPerceivedObject ( const PerceivedObject & object )

inline

Returns the position of a perceived object.

Parameters

object

The perceived object.

Returns

The position of the perceived object as a gm::Point (all values in meters).

Definition at line 259 of file cpm_ts_getters.h.

                                                                           {
  gm::Point point;
  point.x = double(getCartesianCoordinate(object.position.x_coordinate)) / 100.0;
  point.y = double(getCartesianCoordinate(object.position.y_coordinate)) / 100.0;
  if (object.position.z_coordinate_is_present) {
    point.z = double(getCartesianCoordinate(object.position.z_coordinate)) / 100.0;
  }
  return point;
}

getReferenceTime()

TimestampIts etsi_its_cpm_ts_msgs::access::getReferenceTime ( const CollectivePerceptionMessage & cpm )

inline

Get the Reference Time object.

Parameters

cpm	CPM to get the ReferenceTime-Value from

Returns

TimestampIts

Definition at line 56 of file cpm_ts_getters.h.

                                                                             {
  return cpm.payload.management_container.reference_time;
}

getReferenceTimeValue()

uint64_t etsi_its_cpm_ts_msgs::access::getReferenceTimeValue ( const CollectivePerceptionMessage & cpm )

inline

Get the ReferenceTime-Value.

Parameters

cpm	CPM to get the ReferenceTime-Value from

Returns

uint64_t the ReferenceTime-Value in milliseconds

Definition at line 66 of file cpm_ts_getters.h.

{ return getReferenceTime(cpm).value; }

getSemiAxis()

template<typename SemiAxisLength>

double etsi_its_cpm_ts_msgs::access::getSemiAxis ( const SemiAxisLength & semi_axis_length )

inline

Get the Semi Axis object.

Parameters

semi_axis_length

The SemiAxisLength object to get the semi axis from

Returns

double the semi axis length in meters

Definition at line 214 of file cpm_ts_getters.h.

getSensorID()

uint8_t etsi_its_cpm_ts_msgs::access::getSensorID ( const SensorInformation & sensor_information )

inline

Get the sensorId of a SensorInformation object.

Parameters

sensor_information

The SensorInformation to get the sensorId from

Returns

uint8_t The sensorId of a SensorInformation object

Definition at line 749 of file cpm_ts_getters.h.

                                                                        {
  return sensor_information.sensor_id.value;
}

getSensorType()

uint8_t etsi_its_cpm_ts_msgs::access::getSensorType ( const SensorInformation & sensor_information )

inline

Get the sensorType of a SensorInformation object.

Parameters

sensor_information

The SensorInformation to get the sensorType from

Returns

uint8_t The sensorType of a SensorInformation object

Definition at line 759 of file cpm_ts_getters.h.

                                                                          {
  return sensor_information.sensor_type.value;
}

getSpeed()

double etsi_its_cpm_ts_msgs::access::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 84 of file cpm_ts_getters.h.

{

getSpeedConfidence()

double etsi_its_cpm_ts_msgs::access::getSpeedConfidence ( const Speed & speed )

inline

Get the Speed Confidence.

Parameters

speed

to get the SpeedConfidence from

Returns

double speed standard deviation in m/s as decimal number

Definition at line 92 of file cpm_ts_getters.h.

                                                                  {

getStationID() [1/2]

uint32_t etsi_its_cpm_ts_msgs::access::getStationID ( const CollectivePerceptionMessage & cpm )

inline

Retrieves the station ID from the given CPM.

This function extracts the station ID from the header of the provided CPM.

Parameters

cpm	The CPM from which to retrieve the station ID.

Returns

The station ID extracted from the header of the CPM.

Definition at line 48 of file cpm_ts_getters.h.

{ return getStationID(cpm.header); }

getStationID() [2/2]

uint32_t etsi_its_cpm_ts_msgs::access::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 47 of file cpm_ts_getters.h.

getUTMPosition() [1/3]

gm::PointStamped etsi_its_cpm_ts_msgs::access::getUTMPosition ( const CollectivePerceptionMessage & cpm )

inline

Get the UTM Position defined within the ManagementContainer of the CPM.

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

Parameters

cpm	CPM from which to extract the UTM position.

Returns

geometry_msgs::PointStamped of the given position with the UTM zone and hemisphere as frame_id

Definition at line 122 of file cpm_ts_getters.h.

                                                                             {
  int zone;
  bool northp;
  return getUTMPosition(cpm, zone, northp);
}

getUTMPosition() [2/3]

gm::PointStamped etsi_its_cpm_ts_msgs::access::getUTMPosition ( const CollectivePerceptionMessage & cpm, int & zone, bool & northp )

inline

Get the UTM Position defined within the ManagementContainer of the CPM.

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

Parameters

[in]	cpm	CPM to get the UTM Position from
[out]	zone	the UTM zone (zero means UPS)
[out]	northp	hemisphere (true means north, false means south)

Returns

geometry_msgs::PointStamped of the given position with the UTM zone and hemisphere as frame_id

Definition at line 109 of file cpm_ts_getters.h.

                                                                                                      {
  return getUTMPosition(cpm.payload.management_container.reference_position, zone, northp);
}

getUTMPosition() [3/3]

template<typename T>

gm::PointStamped etsi_its_cpm_ts_msgs::access::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 130 of file cpm_ts_getters.h.

                                                                                     {
  std::vector<uint8_t> container_ids;
  for (int i = 0; i < cpm.payload.cpm_containers.value.array.size(); i++) {
    container_ids.push_back(cpm.payload.cpm_containers.value.array[i].container_id.value);
  }
  return container_ids;
}

getUTMPositionOfPerceivedObject()

gm::PointStamped etsi_its_cpm_ts_msgs::access::getUTMPositionOfPerceivedObject ( const CollectivePerceptionMessage & cpm, const PerceivedObject & object )

inline

Calculates the UTM position of a perceived object based on the CPMs referencep position.

This function takes a CPM and a PerceivedObject as input parameters and calculates the UTM position of the object. The UTM position is calculated by adding the relative position of the object to the UTM position of the reference point in the CPM.

Parameters

cpm	The Collective Perception Message (CPM) containing the reference position.
object	The PerceivedObject for which the UTM position needs to be calculated.

Returns

The UTM position of the perceived object.

Definition at line 716 of file cpm_ts_getters.h.

getVelocityComponent()

double etsi_its_cpm_ts_msgs::access::getVelocityComponent ( const VelocityComponent & velocity )

inline

Get the velocity component of the PerceivedObject.

Parameters

velocity

VelocityComponent to get the value from

Returns

double value of the velocity component in m/s

Definition at line 416 of file cpm_ts_getters.h.

getVelocityComponentConfidence()

double etsi_its_cpm_ts_msgs::access::getVelocityComponentConfidence ( const VelocityComponent & velocity )

inline

Get the confidence of the velocity component.

Parameters

velocity

VelocityComponent to get the confidence from

Returns

double value of the confidence of the velocity component in m/s

Definition at line 424 of file cpm_ts_getters.h.

getWGSPosConfidenceEllipse()

template<typename PosConfidenceEllipse>

std::array< double, 4 > etsi_its_cpm_ts_msgs::access::getWGSPosConfidenceEllipse ( const PosConfidenceEllipse & position_confidence_ellipse )

inline

Get the covariance matrix of the position confidence ellipse.

Parameters

position_confidence_ellipse	The position confidence ellipse to get the covariance matrix from
object_heading	The object heading in radians

Returns

std::array<double, 4> The covariance matrix of the position confidence ellipse in WGS coordinates (x = North, y = East)

Definition at line 299 of file cpm_ts_getters.h.

getWGSPositionConfidenceEllipse()

template<typename PositionConfidenceEllipse>

std::array< double, 4 > etsi_its_cpm_ts_msgs::access::getWGSPositionConfidenceEllipse ( const PositionConfidenceEllipse & position_confidence_ellipse )

inline

Get the covariance matrix of the position confidence ellipse.

Parameters

position_confidence_ellipse	The position confidence ellipse to get the covariance matrix from
object_heading	The object heading in radians

Returns

std::array<double, 4> The covariance matrix of the position confidence ellipse in WGS coordinates (x = North, y = East)

Definition at line 116 of file cpm_ts_getters.h.

getWGSRefPosConfidence()

const std::array< double, 4 > etsi_its_cpm_ts_msgs::access::getWGSRefPosConfidence ( const CollectivePerceptionMessage & cpm )

inline

Get the confidence ellipse of the reference position as Covariance matrix.

The covariance matrix will have the entries cov_xx, cov_xy, cov_yx, cov_yy where x is WGS84 North and y is East

Parameters

cpm	The CPM message to get the reference position from

Returns

const std::array<double, 4> the covariance matrix, as specified above

Definition at line 739 of file cpm_ts_getters.h.

getXDimensionConfidenceOfPerceivedObject()

uint8_t etsi_its_cpm_ts_msgs::access::getXDimensionConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Gets the confidence of the x-dimension of a perceived object.

Parameters

object

The PerceivedObject from which to retrieve the x-dimension confidence.

Returns

uint8_t The confidence of the x-dimension of the perceived object in decimeters.

Exceptions

std::invalid_argument

if the x-dimension is not present in the PerceivedObject.

Definition at line 615 of file cpm_ts_getters.h.

getXDimensionOfPerceivedObject()

uint16_t etsi_its_cpm_ts_msgs::access::getXDimensionOfPerceivedObject ( const PerceivedObject & object )

inline

Gets the x-dimension of a perceived object.

This function extracts the x-dimension from a given PerceivedObject. If the x-dimension is not present in the object, it throws an std::invalid_argument exception.

Parameters

object

The PerceivedObject from which to retrieve the x-dimension.

Returns

The x-dimension of the perceived object in decimeters.

Exceptions

std::invalid_argument

if the x-dimension is not present in the PerceivedObject.

Definition at line 603 of file cpm_ts_getters.h.

getYawConfidenceOfPerceivedObject()

double etsi_its_cpm_ts_msgs::access::getYawConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Get the Yaw Confidence Of Perceived Object object.

Parameters

object

PerceivedObject to get the yaw confidence from

Returns

double The standard deviation of the yaw angle in radians

Exceptions

std::invalid_argument

If the angles are not present in the object.

Definition at line 353 of file cpm_ts_getters.h.

getYawOfPerceivedObject()

double etsi_its_cpm_ts_msgs::access::getYawOfPerceivedObject ( const PerceivedObject & object )

inline

Get the yaw of the PerceivedObject.

Parameters

object

PerceivedObject to get the yaw from

Returns

double yaw of the PerceivedObject in radians from -pi to pi

Definition at line 338 of file cpm_ts_getters.h.

getYawRateCDD()

template<typename YawRate>

double etsi_its_cpm_ts_msgs::access::getYawRateCDD ( const YawRate & yaw_rate )

inline

Get the Yaw Rate value.

Parameters

yaw_rate

The YawRate object to get the yaw rate from

Returns

double The yaw rate in degrees per second

Definition at line 179 of file cpm_ts_getters.h.

getYawRateConfidenceCDD()

template<typename YawRate, typename YawRateConfidence = decltype(YawRate::yaw_rate_confidence)>

double etsi_its_cpm_ts_msgs::access::getYawRateConfidenceCDD ( const YawRate & yaw_rate )

inline

Get the Yaw Rate Confidence.

Parameters

yaw_rate

The YawRate object to get the yaw rate confidence from

Returns

double The yaw rate standard deviation in degrees per second

Definition at line 190 of file cpm_ts_getters.h.

getYawRateConfidenceOfPerceivedObject()

double etsi_its_cpm_ts_msgs::access::getYawRateConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Get the Yaw Rate Confidence Of Perceived Object.

Parameters

object

The PerceivedObject to get the yaw rate confidence from

Returns

double The standard deviation of the yaw rate in rad/s As defined in the TS, this is rounded up to the next possible value

Exceptions

std::invalid_argument

If the yaw rate is not present in the object.

Definition at line 394 of file cpm_ts_getters.h.

getYawRateOfPerceivedObject()

double etsi_its_cpm_ts_msgs::access::getYawRateOfPerceivedObject ( const PerceivedObject & object )

inline

Get the yaw rate of the PerceivedObject.

Parameters

object

PerceivedObject to get the yaw rate from

Returns

double yaw rate of the PerceivedObject in rad/s

Exceptions

std::invalid_argument

If the yaw rate is not present in the object.

Definition at line 380 of file cpm_ts_getters.h.

getYDimensionConfidenceOfPerceivedObject()

uint8_t etsi_its_cpm_ts_msgs::access::getYDimensionConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Gets the confidence of the y-dimension of a perceived object.

Parameters

object

The PerceivedObject from which to retrieve the y-dimension confidence.

Returns

uint8_t The confidence of the y-dimension of the perceived object in decimeters.

Exceptions

std::invalid_argument

if the y-dimension is not present in the PerceivedObject.

Definition at line 643 of file cpm_ts_getters.h.

getYDimensionOfPerceivedObject()

uint16_t etsi_its_cpm_ts_msgs::access::getYDimensionOfPerceivedObject ( const PerceivedObject & object )

inline

Retrieves the y-dimension of a perceived object.

This function extracts the y-dimension from a given PerceivedObject. If the y-dimension is not present in the object, it throws an std::invalid_argument exception.

Parameters

object

The PerceivedObject from which to retrieve the y-dimension.

Returns

uint16_t y-dimension of the perceived object in in decimeters.

Exceptions

std::invalid_argument

if the y-dimension is not present in the PerceivedObject.

Definition at line 631 of file cpm_ts_getters.h.

getZDimensionConfidenceOfPerceivedObject()

uint8_t etsi_its_cpm_ts_msgs::access::getZDimensionConfidenceOfPerceivedObject ( const PerceivedObject & object )

inline

Gets the confidence of the z-dimension of a perceived object.

Parameters

object

The PerceivedObject from which to retrieve the z-dimension confidence.

Returns

uint8_t The confidence of the z-dimension of the perceived object in decimeters.

Exceptions

std::invalid_argument

if the z-dimension is not present in the PerceivedObject.

Definition at line 671 of file cpm_ts_getters.h.

getZDimensionOfPerceivedObject()

uint16_t etsi_its_cpm_ts_msgs::access::getZDimensionOfPerceivedObject ( const PerceivedObject & object )

inline

Retrieves the z-dimension of a perceived object.

This function extracts the z-dimension from a given PerceivedObject. If the z-dimension is not present in the object, it throws an std::invalid_argument exception.

Parameters

object

The PerceivedObject from which to retrieve the z-dimension.

Returns

uint16_t z-dimension of the perceived object in decimeters.

Exceptions

std::invalid_argument

If the z-dimension is not present in the object.

Definition at line 659 of file cpm_ts_getters.h.

WGSCovMatrixFromConfidenceEllipse()

std::array< double, 4 > etsi_its_cpm_ts_msgs::access::WGSCovMatrixFromConfidenceEllipse ( double semi_major, double semi_minor, double major_orientation )

inline

Convert the confidence ellipse to a covariance matrix.

Note that the major_orientation is given in degrees, while the object_heading is given in radians!

Parameters

semi_major	Semi major axis length in meters
semi_minor	Semi minor axis length in meters
major_orientation	Orientation of the major axis in degrees, relative to WGS84

Returns

std::array<double, 4> The covariance matrix in WGS coordinates (x = North, y = East)

Definition at line 273 of file cpm_ts_getters.h.