Getter functions for the ETSI ITS DENM (EN). More...

#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_getters.h>
#include <etsi_its_msgs_utils/impl/denm/denm_getters_common.h>

Functions
uint32_t	etsi_its_denm_msgs::access::getStationID (const ItsPduHeader &header)
	Get the StationID of ItsPduHeader.
double	etsi_its_denm_msgs::access::getLatitude (const Latitude &latitude)
	Get the Latitude value.
double	etsi_its_denm_msgs::access::getLongitude (const Longitude &longitude)
	Get the Longitude value.
double	etsi_its_denm_msgs::access::getAltitude (const Altitude &altitude)
	Get the Altitude value.
double	etsi_its_denm_msgs::access::getSpeed (const Speed &speed)
	Get the vehicle speed.
double	etsi_its_denm_msgs::access::getSpeedConfidence (const Speed &speed)
	Get the Speed Confidence.
template<typename AccelerationMagnitude>
double	etsi_its_denm_msgs::access::getAccelerationMagnitude (const AccelerationMagnitude &acceleration_magnitude)
	Get the AccelerationMagnitude value.
template<typename AccelerationMagnitude>
double	etsi_its_denm_msgs::access::getAccelerationMagnitudeConfidence (const AccelerationMagnitude &acceleration_magnitude)
	Get the AccelerationMagnitude Confidence.
template<typename T>
gm::PointStamped	etsi_its_denm_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_denm_msgs::access::getHeadingCDD (const Heading &heading)
	Get the Heading value.
template<typename Heading>
double	etsi_its_denm_msgs::access::getHeadingConfidenceCDD (const Heading &heading)
	Get the Heading value.
template<typename YawRate>
double	etsi_its_denm_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_denm_msgs::access::getYawRateConfidenceCDD (const YawRate &yaw_rate)
	Get the Yaw Rate Confidence.
template<typename SemiAxisLength>
double	etsi_its_denm_msgs::access::getSemiAxis (const SemiAxisLength &semi_axis_length)
	Get the Semi Axis object.
template<typename PosConfidenceEllipse>
std::tuple< double, double, double >	etsi_its_denm_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_denm_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_denm_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_denm_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_denm_msgs::access::getWGSPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse)
	Get the covariance matrix of the position confidence ellipse.
std::vector< bool >	etsi_its_denm_msgs::access::getBitString (const std::vector< uint8_t > &buffer, const int bits_unused)
	Get a Bit String in form of bool vector.
uint32_t	etsi_its_denm_msgs::access::getStationID (const DENM &denm)
	Get the Station ID object.
TimestampIts	etsi_its_denm_msgs::access::getReferenceTime (const DENM &denm)
	Get the Reference Time object.
uint64_t	etsi_its_denm_msgs::access::getReferenceTimeValue (const DENM &denm)
	Get the ReferenceTime-Value.
uint8_t	etsi_its_denm_msgs::access::getStationType (const DENM &denm)
	Get the stationType object.
double	etsi_its_denm_msgs::access::getLatitude (const DENM &denm)
	Get the Latitude value of DENM.
double	etsi_its_denm_msgs::access::getLongitude (const DENM &denm)
	Get the Longitude value of DENM.
double	etsi_its_denm_msgs::access::getAltitude (const DENM &denm)
	Get the Altitude value of DENM.
bool	etsi_its_denm_msgs::access::getIsHeadingPresent (const DENM &denm)
	Get the IsHeadingPresent object.
double	etsi_its_denm_msgs::access::getSpeed (const DENM &denm)
	Get the vehicle speed.
bool	etsi_its_denm_msgs::access::getIsSpeedPresent (const DENM &denm)
	Get the IsSpeedPresent object.
double	etsi_its_denm_msgs::access::getSpeedConfidence (const DENM &denm)
	Get the Speed Confidence.
gm::PointStamped	etsi_its_denm_msgs::access::getUTMPosition (const DENM &denm, int &zone, bool &northp)
	Get the UTM Position defined within the ManagementContainer of the DENM.
gm::PointStamped	etsi_its_denm_msgs::access::getUTMPosition (const DENM &denm)
	Get the UTM Position defined within the ManagementContainer of the DENM.
std::vector< bool >	etsi_its_denm_msgs::access::getDrivingLaneStatus (const DrivingLaneStatus &driving_lane_status)
	Get the Driving Lane Status in form of bool vector.
std::vector< bool >	etsi_its_denm_msgs::access::getLightBarSirenInUse (const LightBarSirenInUse &light_bar_siren_in_use)
	Get the Lightbar Siren In Use in form of bool vector.
double	etsi_its_denm_msgs::access::getHeading (const DENM &denm)
	Get the Heading object.
double	etsi_its_denm_msgs::access::getHeadingConfidence (const DENM &denm)
	Get the Heading confidence.
uint8_t	etsi_its_denm_msgs::access::getCauseCode (const DENM &denm)
	Get the Cause Code object.
uint8_t	etsi_its_denm_msgs::access::getSubCauseCode (const DENM &denm)
	Get the Sub Cause Code object.
std::string	etsi_its_denm_msgs::access::getCauseCodeType (const DENM &denm)
	Get the Cause Code Type object.
std::string	etsi_its_denm_msgs::access::getSubCauseCodeType (const DENM &denm)
	Get the Sub Cause Code Type object.

Detailed Description

Getter functions for the ETSI ITS DENM (EN).

Definition in file denm_getters.h.

Function Documentation

◆ CovMatrixFromConfidenceEllipse()

std::array< double, 4 > etsi_its_denm_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 denm_getters.h.

◆ getAccelerationMagnitude()

template<typename AccelerationMagnitude>

double etsi_its_denm_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 denm_getters.h.

◆ getAccelerationMagnitudeConfidence()

template<typename AccelerationMagnitude>

double etsi_its_denm_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 denm_getters.h.

◆ getAltitude() [1/2]

double etsi_its_denm_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 denm_getters.h.

◆ getAltitude() [2/2]

double etsi_its_denm_msgs::access::getAltitude ( const DENM & denm )

inline

Get the Altitude value of DENM.

Parameters

denm	DENM to get the Altitude value from

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

Definition at line 91 of file denm_getters.h.

◆ getBitString()

std::vector< bool > etsi_its_denm_msgs::access::getBitString	(	const std::vector< uint8_t > &	buffer,
		const int	bits_unused )

inline

Get a Bit String in form of bool vector.

Parameters

buffer	as uint8_t vector
bits_unused	number of bits to ignore at the end of the bit string

Returns: std::vector<bool>

Definition at line 43 of file denm_getters.h.

inline double getHeadingConfidence(const DENM& denm) {
  if (denm.denm.location_is_present) {
    if (denm.denm.location.event_position_heading_is_present) {
      return getHeadingConfidenceCDD(denm.denm.location.event_position_heading);
    } else {

◆ getCauseCode()

uint8_t etsi_its_denm_msgs::access::getCauseCode ( const DENM & denm )

inline

Get the Cause Code object.

Parameters

denm	DENM to get the causeCode value from

Returns: causeCode value

Definition at line 82 of file denm_getters.h.

82{ return denm.denm.situation.event_type.cause_code.value; }

◆ getCauseCodeType()

std::string etsi_its_denm_msgs::access::getCauseCodeType ( const DENM & denm )

inline

Get the Cause Code Type object.

https://www.etsi.org/deliver/etsi_en/302600_302699/30263703/01.02.01_30/en_30263703v010201v.pdf

Parameters

denm	DENM to get the causeCodeType value from

Returns: causeCodeType value

Definition at line 100 of file denm_getters.h.

                                                    {
  if (denm.denm.situation_is_present) {
    int cause_code = getCauseCode(denm);
    std::string cause_code_type = "undefined";
 
    if (cause_code == CauseCodeType().TRAFFIC_CONDITION)
      cause_code_type = "traffic condition";
    else if (cause_code == CauseCodeType().ACCIDENT)
      cause_code_type = "accident";
    else if (cause_code == CauseCodeType().ROADWORKS)
      cause_code_type = "roadworks";
    else if (cause_code == CauseCodeType().IMPASSABILITY)
      cause_code_type = "impassibility";
    else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_ADHESION)
      cause_code_type = "adverse weather condition - adhesion";
    else if (cause_code == CauseCodeType().AQUAPLANNNING)
      cause_code_type = "aquaplanning";
    else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_SURFACE_CONDITION)
      cause_code_type = "hazardous location - surface condition";
    else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_OBSTACLE_ON_THE_ROAD)
      cause_code_type = "hazardous location - obstacle on the road";
    else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_ANIMAL_ON_THE_ROAD)
      cause_code_type = "hazardous location - animal on the road";
    else if (cause_code == CauseCodeType().HUMAN_PRESENCE_ON_THE_ROAD)
      cause_code_type = "human presence on the road";
    else if (cause_code == CauseCodeType().WRONG_WAY_DRIVING)
      cause_code_type = "wrong way driving";
    else if (cause_code == CauseCodeType().RESCUE_AND_RECOVERY_WORK_IN_PROGRESS)
      cause_code_type = "rescue and recovery in progress";
    else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_EXTREME_WEATHER_CONDITION)
      cause_code_type = "adverse weather condition - extreme weather condition";
    else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_VISIBILITY)
      cause_code_type = "adverse weather condition - visibility";
    else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_PRECIPITATION)
      cause_code_type = "adverse weather condition - precipitation";
    else if (cause_code == CauseCodeType().SLOW_VEHICLE)
      cause_code_type = "slow vehicle";
    else if (cause_code == CauseCodeType().DANGEROUS_END_OF_QUEUE)
      cause_code_type = "dangerous end of queue";
    else if (cause_code == CauseCodeType().VEHICLE_BREAKDOWN)
      cause_code_type = "vehicle breakdown";
    else if (cause_code == CauseCodeType().POST_CRASH)
      cause_code_type = "post crash";
    else if (cause_code == CauseCodeType().HUMAN_PROBLEM)
      cause_code_type = "human problem";
    else if (cause_code == CauseCodeType().STATIONARY_VEHICLE)
      cause_code_type = "stationary vehicle";
    else if (cause_code == CauseCodeType().EMERGENCY_VEHICLE_APPROACHING)
      cause_code_type = "emergency vehicle approaching";
    else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_DANGEROUS_CURVE)
      cause_code_type = "hazardous location - dangerous curve";
    else if (cause_code == CauseCodeType().COLLISION_RISK)
      cause_code_type = "collision risk";
    else if (cause_code == CauseCodeType().SIGNAL_VIOLATION)
      cause_code_type = "signal violation";
    else if (cause_code == CauseCodeType().DANGEROUS_SITUATION)
      cause_code_type = "dangerous situation";
 
    return cause_code_type;
  } else {
    throw std::invalid_argument("SituationContainer is not present!");
  }
}

◆ getDrivingLaneStatus()

std::vector< bool > etsi_its_denm_msgs::access::getDrivingLaneStatus ( const DrivingLaneStatus & driving_lane_status )

inline

Get the Driving Lane Status in form of bool vector.

Parameters

driving_lane_status

Returns: std::vector<bool>

Definition at line 180 of file denm_getters.h.

◆ getHeading()

double etsi_its_denm_msgs::access::getHeading ( const DENM & denm )

inline

Get the Heading object.

Parameters

denm	DENM to get the Heading-Value from

Returns: heading value in degree as decimal number

Definition at line 46 of file denm_getters.h.

                                           {
  if (denm.denm.location_is_present) {
    if (denm.denm.location.event_position_heading_is_present) {
      return getHeadingCDD(denm.denm.location.event_position_heading);
    } else {
      throw std::invalid_argument("Heading is not present!");
    }
  } else {
    throw std::invalid_argument("LocationContainer is not present!");
  }
}

◆ getHeadingCDD()

template<typename Heading>

double etsi_its_denm_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 denm_getters.h.

159{

◆ getHeadingConfidence()

double etsi_its_denm_msgs::access::getHeadingConfidence ( const DENM & denm )

inline

Get the Heading confidence.

Parameters

denm	DENM to get the Heading-Value from

Returns: standard deviation of heading in degrees as decimal number

Definition at line 64 of file denm_getters.h.

                                                     {
  if (denm.denm.location_is_present) {
    if (denm.denm.location.event_position_heading_is_present) {
      return getHeadingConfidenceCDD(denm.denm.location.event_position_heading);
    } else {
      throw std::invalid_argument("Heading is not present!");
    }
  } else {
    throw std::invalid_argument("LocationContainer is not present!");
  }
}

◆ getHeadingConfidenceCDD()

template<typename Heading>

double etsi_its_denm_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 denm_getters.h.

◆ getIsHeadingPresent()

bool etsi_its_denm_msgs::access::getIsHeadingPresent ( const DENM & denm )

inline

Get the IsHeadingPresent object.

Parameters

denm	DENM to get the IsHeadingPresent-Value from

Returns: IsHeadingPresent-Value (true or false)

Definition at line 99 of file denm_getters.h.

                                                    {
  if (denm.denm.situation_is_present) {
    int cause_code = getCauseCode(denm);
    std::string cause_code_type = "undefined";
 
    if (cause_code == CauseCodeType().TRAFFIC_CONDITION)

◆ getIsSpeedPresent()

bool etsi_its_denm_msgs::access::getIsSpeedPresent ( const DENM & denm )

inline

Get the IsSpeedPresent object.

Parameters

denm	DENM to get the IsSpeedPresent-Value from

Returns: IsSpeedPresent-Value (true or false)

Definition at line 131 of file denm_getters.h.

◆ getLatitude() [1/2]

double etsi_its_denm_msgs::access::getLatitude ( const DENM & denm )

inline

Get the Latitude value of DENM.

Parameters

denm	DENM to get the Latitude value from

Returns: Latitude value in degree as decimal number

Definition at line 75 of file denm_getters.h.

◆ getLatitude() [2/2]

double etsi_its_denm_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 denm_getters.h.

◆ getLightBarSirenInUse()

std::vector< bool > etsi_its_denm_msgs::access::getLightBarSirenInUse ( const LightBarSirenInUse & light_bar_siren_in_use )

inline

Get the Lightbar Siren In Use in form of bool vector.

Parameters

light_bar_siren_in_use

Returns: std::vector<bool>

Definition at line 190 of file denm_getters.h.

◆ getLongitude() [1/2]

double etsi_its_denm_msgs::access::getLongitude ( const DENM & denm )

inline

Get the Longitude value of DENM.

Parameters

denm	DENM to get the Longitude value from

Returns: Longitude value in degree as decimal number

Definition at line 83 of file denm_getters.h.

◆ getLongitude() [2/2]

double etsi_its_denm_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 denm_getters.h.

◆ getPosConfidenceEllipse() [1/2]

template<typename PosConfidenceEllipse>

std::tuple< double, double, double > etsi_its_denm_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 denm_getters.h.

                                                                                    {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 7)

◆ getPosConfidenceEllipse() [2/2]

template<typename PosConfidenceEllipse>

std::array< double, 4 > etsi_its_denm_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 denm_getters.h.

◆ getReferenceTime()

TimestampIts etsi_its_denm_msgs::access::getReferenceTime ( const DENM & denm )

inline

Get the Reference Time object.

Parameters

denm	DENM to get the ReferenceTime-Value from

Returns: TimestampIts

Definition at line 51 of file denm_getters.h.

◆ getReferenceTimeValue()

uint64_t etsi_its_denm_msgs::access::getReferenceTimeValue ( const DENM & denm )

inline

Get the ReferenceTime-Value.

Parameters

denm	DENM to get the ReferenceTime-Value from

Returns: uint64_t the ReferenceTime-Value

Definition at line 59 of file denm_getters.h.

◆ getSemiAxis()

template<typename SemiAxisLength>

double etsi_its_denm_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 denm_getters.h.

216 {

◆ getSpeed() [1/2]

double etsi_its_denm_msgs::access::getSpeed ( const DENM & denm )

inline

Get the vehicle speed.

Parameters

denm	DENM to get the speed value from

Returns: speed value in m/s as decimal number

Definition at line 113 of file denm_getters.h.

◆ getSpeed() [2/2]

double etsi_its_denm_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 denm_getters.h.

◆ getSpeedConfidence() [1/2]

double etsi_its_denm_msgs::access::getSpeedConfidence ( const DENM & denm )

inline

Get the Speed Confidence.

Parameters

denm	DENM to get the Speed Confidence from

Returns: double standard deviation of the speed in m/s as decimal number

Definition at line 145 of file denm_getters.h.

◆ getSpeedConfidence() [2/2]

double etsi_its_denm_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 denm_getters.h.

◆ getStationID() [1/2]

uint32_t etsi_its_denm_msgs::access::getStationID ( const DENM & denm )

inline

Get the Station ID object.

Parameters

denm	DENM to get the StationID value from

Returns: stationID value

Definition at line 43 of file denm_getters.h.

◆ getStationID() [2/2]

uint32_t etsi_its_denm_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 denm_getters.h.

47{

◆ getStationType()

uint8_t etsi_its_denm_msgs::access::getStationType ( const DENM & denm )

inline

Get the stationType object.

Parameters

denm	DENM to get the stationType value from

Returns: stationType value

Definition at line 67 of file denm_getters.h.

◆ getSubCauseCode()

uint8_t etsi_its_denm_msgs::access::getSubCauseCode ( const DENM & denm )

inline

Get the Sub Cause Code object.

Parameters

denm	DENM to get the subCauseCode value from

Returns: subCauseCode value

Definition at line 90 of file denm_getters.h.

90{ return denm.denm.situation.event_type.sub_cause_code.value; }

◆ getSubCauseCodeType()

std::string etsi_its_denm_msgs::access::getSubCauseCodeType ( const DENM & denm )

inline

Get the Sub Cause Code Type object.

https://www.etsi.org/deliver/etsi_en/302600_302699/30263703/01.02.01_30/en_30263703v010201v.pdf

Parameters

denm	DENM to get the subCauseCodeType value from

Returns: causeCodeType value

Definition at line 172 of file denm_getters.h.

                                                       {
  if (denm.denm.situation_is_present) {
    int cause_code = getCauseCode(denm);
    int sub_cause_code = getSubCauseCode(denm);
    std::string sub_cause_code_type = "undefined";
    if (cause_code == CauseCodeType().TRAFFIC_CONDITION) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "not defined";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "traffic jam slowly increasing";
      else if (sub_cause_code == 3)
        sub_cause_code_type = "traffic jam increasing";
      else if (sub_cause_code == 4)
        sub_cause_code_type = "traffic jam strongly increasing";
      else if (sub_cause_code == 5)
        sub_cause_code_type = "traffic stationary";
      else if (sub_cause_code == 6)
        sub_cause_code_type = "traffic jam slightly decreasing";
      else if (sub_cause_code == 7)
        sub_cause_code_type = "traffic jam decreasing";
      else if (sub_cause_code == 8)
        sub_cause_code_type = "traffic jam strongly decreasing";
    } else if (cause_code == CauseCodeType().ACCIDENT) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 7)
        sub_cause_code_type = "not defined";
      else if (sub_cause_code == 8)
        sub_cause_code_type = "assistance requested (e-Call)";
    } else if (cause_code == CauseCodeType().ROADWORKS) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 3)
        sub_cause_code_type = "not defined";
      else if (sub_cause_code == 4)
        sub_cause_code_type = "short-term stationary roadworks";
      else if (sub_cause_code == 5)
        sub_cause_code_type = "street cleaning";
      else if (sub_cause_code == 6)
        sub_cause_code_type = "winter service";
    } else if (cause_code == CauseCodeType().IMPASSABILITY)
      sub_cause_code_type = "not defined";
    else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_ADHESION) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 10)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().AQUAPLANNNING)
      sub_cause_code_type = "not defined";
    else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_SURFACE_CONDITION) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 9)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_OBSTACLE_ON_THE_ROAD) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 7)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_ANIMAL_ON_THE_ROAD) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 4)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().HUMAN_PRESENCE_ON_THE_ROAD) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 3)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().WRONG_WAY_DRIVING) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "vehicle driving in wrong lane";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "vehicle driving in wrong driving direction";
    } else if (cause_code == CauseCodeType().RESCUE_AND_RECOVERY_WORK_IN_PROGRESS) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 5)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_EXTREME_WEATHER_CONDITION) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 6)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_VISIBILITY) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 8)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().ADVERSE_WEATHER_CONDITION_PRECIPITATION) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 3)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().SLOW_VEHICLE) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 8)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().DANGEROUS_END_OF_QUEUE) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 8)
        sub_cause_code_type = "not defined";
    } else if (cause_code == CauseCodeType().VEHICLE_BREAKDOWN) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "lack of fuel";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "lack of battery";
      else if (sub_cause_code == 3)
        sub_cause_code_type = "engine problem";
      else if (sub_cause_code == 4)
        sub_cause_code_type = "transmission problem";
      else if (sub_cause_code == 5)
        sub_cause_code_type = "engine cooling problem";
      else if (sub_cause_code == 6)
        sub_cause_code_type = "braking system problem";
      else if (sub_cause_code == 7)
        sub_cause_code_type = "steering problem";
      else if (sub_cause_code == 8)
        sub_cause_code_type = "tyre puncture";
    } else if (cause_code == CauseCodeType().POST_CRASH) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "accident without e-Call triggered";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "accident with e-Call manually triggered";
      else if (sub_cause_code == 3)
        sub_cause_code_type = "accident with e-Call automatical triggered";
      else if (sub_cause_code == 4)
        sub_cause_code_type = "accident with e-Call triggered without a possible access to a cell network";
    } else if (cause_code == CauseCodeType().HUMAN_PROBLEM) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "glycaemia problem";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "heart problem";
    } else if (cause_code == CauseCodeType().STATIONARY_VEHICLE) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "human problem";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "vehicle breakdown";
      else if (sub_cause_code == 3)
        sub_cause_code_type = "post crash";
      else if (sub_cause_code == 4)
        sub_cause_code_type = "public transport stop";
      else if (sub_cause_code == 5)
        sub_cause_code_type = "carrying dangerous goods";
    } else if (cause_code == CauseCodeType().EMERGENCY_VEHICLE_APPROACHING) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "emergency vehicle approaching";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "prioritized vehicle approaching";
    } else if (cause_code == CauseCodeType().HAZARDOUS_LOCATION_DANGEROUS_CURVE) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "dangerous left turn curve";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "dangerous right turn curve";
      else if (sub_cause_code == 3)
        sub_cause_code_type = "multiple curves starting with unknown turning direction";
      else if (sub_cause_code == 4)
        sub_cause_code_type = "multiple curves starting with left turn";
      else if (sub_cause_code == 5)
        sub_cause_code_type = "multiple curves starting with right turn";
    } else if (cause_code == CauseCodeType().COLLISION_RISK) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "longitudinal collision risk";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "crossing collision risk";
      else if (sub_cause_code == 3)
        sub_cause_code_type = "lateral collision risk";
      else if (sub_cause_code == 4)
        sub_cause_code_type = "collision risk involving vulnerable road user";
    } else if (cause_code == CauseCodeType().SIGNAL_VIOLATION) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "stop sign violation";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "traffic light violation";
      else if (sub_cause_code == 3)
        sub_cause_code_type = "turning regulation violation";
    } else if (cause_code == CauseCodeType().DANGEROUS_SITUATION) {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)
        sub_cause_code_type = "emergency electronic break lights";
      else if (sub_cause_code == 2)
        sub_cause_code_type = "pre-crash system activated";
      else if (sub_cause_code == 3)
        sub_cause_code_type = "ESP (electronic stability program) activated";
      else if (sub_cause_code == 4)
        sub_cause_code_type = "ABS (anti-lock breaking system) activated";
      else if (sub_cause_code == 5)
        sub_cause_code_type = "AEB (automatic emergency breaking) activated";
      else if (sub_cause_code == 6)
        sub_cause_code_type = "break warning activated";
      else if (sub_cause_code == 7)
        sub_cause_code_type = "collision risk warning activated";
    }
    return sub_cause_code_type;
  } else {
    throw std::invalid_argument("SituationContainer is not present!");
  }
}

◆ getUTMPosition() [1/3]

gm::PointStamped etsi_its_denm_msgs::access::getUTMPosition ( const DENM & denm )

inline

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

Parameters

denm	DENM to get the UTM Position from

Returns: gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 168 of file denm_getters.h.

172 {

◆ getUTMPosition() [2/3]

gm::PointStamped etsi_its_denm_msgs::access::getUTMPosition	(	const DENM &	denm,
		int &	zone,
		bool &	northp )

inline

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

Parameters

denm	DENM to get the UTM Position from
zone	the UTM zone (zero means UPS)
northp	hemisphere (true means north, false means south)

Returns: gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 158 of file denm_getters.h.

159 {

160 throw std::invalid_argument("SituationContainer is not present!");

◆ getUTMPosition() [3/3]

template<typename T>

gm::PointStamped etsi_its_denm_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 denm_getters.h.

◆ getWGSPosConfidenceEllipse()

template<typename PosConfidenceEllipse>

std::array< double, 4 > etsi_its_denm_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 denm_getters.h.

                                                       {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code == 1)

◆ getYawRateCDD()

template<typename YawRate>

double etsi_its_denm_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 denm_getters.h.

◆ getYawRateConfidenceCDD()

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

double etsi_its_denm_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 denm_getters.h.

                                                     {
      if (sub_cause_code == 0)
        sub_cause_code_type = "unavailable";
      else if (sub_cause_code >= 1 && sub_cause_code <= 7)
        sub_cause_code_type = "not defined";
      else if (sub_cause_code == 8)
        sub_cause_code_type = "assistance requested (e-Call)";
    } else if (cause_code == CauseCodeType().ROADWORKS) {
      if (sub_cause_code == 0)

◆ WGSCovMatrixFromConfidenceEllipse()

std::array< double, 4 > etsi_its_denm_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 denm_getters.h.

275 {

276 if (sub_cause_code == 0)

Functions

Detailed Description

Function Documentation

◆ CovMatrixFromConfidenceEllipse()

◆ getAccelerationMagnitude()

◆ getAccelerationMagnitudeConfidence()

◆ getAltitude() [1/2]

◆ getAltitude() [2/2]

◆ getBitString()

◆ getCauseCode()

◆ getCauseCodeType()

◆ getDrivingLaneStatus()

◆ getHeading()

◆ getHeadingCDD()

◆ getHeadingConfidence()

◆ getHeadingConfidenceCDD()

◆ getIsHeadingPresent()

◆ getIsSpeedPresent()

◆ getLatitude() [1/2]

◆ getLatitude() [2/2]

◆ getLightBarSirenInUse()

◆ getLongitude() [1/2]

◆ getLongitude() [2/2]

◆ getPosConfidenceEllipse() [1/2]

◆ getPosConfidenceEllipse() [2/2]

◆ getReferenceTime()

◆ getReferenceTimeValue()

◆ getSemiAxis()

◆ getSpeed() [1/2]

◆ getSpeed() [2/2]

◆ getSpeedConfidence() [1/2]

◆ getSpeedConfidence() [2/2]

◆ getStationID() [1/2]

◆ getStationID() [2/2]

◆ getStationType()

◆ getSubCauseCode()

◆ getSubCauseCodeType()

◆ getUTMPosition() [1/3]

◆ getUTMPosition() [2/3]

◆ getUTMPosition() [3/3]

◆ getWGSPosConfidenceEllipse()

◆ getYawRateCDD()

◆ getYawRateConfidenceCDD()

◆ WGSCovMatrixFromConfidenceEllipse()