denm_setters.h File Reference

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

#include <etsi_its_msgs_utils/impl/constants.h>
#include <etsi_its_msgs_utils/impl/checks.h>
#include <etsi_its_msgs_utils/impl/asn1_primitives/asn1_primitives_setters.h>
#include <etsi_its_msgs_utils/impl/cdd/cdd_v1-3-1_setters.h>

Go to the source code of this file.

Classes
struct	etsi_its_denm_msgs::access::etsi_its_msgs::OneCentimeterHelper< SemiAxisLength, typename >
struct	etsi_its_denm_msgs::access::etsi_its_msgs::OneCentimeterHelper< SemiAxisLength, std::void_t< decltype(SemiAxisLength::ONE_CENTIMETER)> >

Functions
template<typename T1, typename T2>
void	etsi_its_denm_msgs::access::throwIfOutOfRange (const T1 &val, const T2 &min, const T2 &max, const std::string val_desc)
	Throws an exception if a given value is out of a defined range.
void	etsi_its_denm_msgs::access::throwIfNotPresent (const bool is_present, const std::string val_desc)
	Throws an exception if the given value is not present.
template<typename T>
void	etsi_its_denm_msgs::access::setBitString (T &bitstring, const std::vector< bool > &bits)
	Set a Bit String by a vector of bools.
uint16_t	etsi_its_denm_msgs::access::etsi_its_msgs::getLeapSecondInsertionsSince2004 (const uint64_t unix_seconds)
	Get the leap second insertions since 2004 for given unix seconds.
void	etsi_its_denm_msgs::access::setTimestampITS (TimestampIts &timestamp_its, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
	Set the TimestampITS object.
void	etsi_its_denm_msgs::access::setLatitude (Latitude &latitude, const double deg)
	Set the Latitude object.
void	etsi_its_denm_msgs::access::setLongitude (Longitude &longitude, const double deg)
	Set the Longitude object.
void	etsi_its_denm_msgs::access::setAltitudeValue (AltitudeValue &altitude, const double value)
	Set the AltitudeValue object.
void	etsi_its_denm_msgs::access::setAltitude (Altitude &altitude, const double value)
	Set the Altitude object.
void	etsi_its_denm_msgs::access::setSpeedValue (SpeedValue &speed, const double value)
	Set the SpeedValue object.
void	etsi_its_denm_msgs::access::setSpeedConfidence (SpeedConfidence &speed_confidence, const double value)
	Set the Speed Confidence object.
void	etsi_its_denm_msgs::access::setSpeed (Speed &speed, const double value, const double confidence=std::numeric_limits< double >::infinity())
	Set the Speed object.
template<typename AccelerationMagnitudeValue>
void	etsi_its_denm_msgs::access::setAccelerationMagnitudeValue (AccelerationMagnitudeValue &accel_mag_value, const double value)
	Set the Acceleration Magnitude Value object.
template<typename AccelerationConfidence>
void	etsi_its_denm_msgs::access::setAccelerationMagnitudeConfidence (AccelerationConfidence &accel_mag_confidence, const double value)
	Set the AccelerationMagnitude Confidence object.
template<typename AccelerationMagnitude>
void	etsi_its_denm_msgs::access::setAccelerationMagnitude (AccelerationMagnitude &accel_mag, const double value, const double confidence=std::numeric_limits< double >::infinity())
	Set the AccelerationMagnitude object.
template<typename AccelerationConfidence>
void	etsi_its_denm_msgs::access::setAccelerationConfidence (AccelerationConfidence &accel_confidence, const double value)
	Set the Acceleration Confidence object.
template<typename T>
void	etsi_its_denm_msgs::access::setReferencePosition (T &ref_position, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
	Sets the reference position in the given ReferencePostion object.
template<typename T>
void	etsi_its_denm_msgs::access::setFromUTMPosition (T &reference_position, const gm::PointStamped &utm_position, const int zone, const bool northp)
	Set the ReferencePosition from a given UTM-Position.
template<typename HeadingValue>
void	etsi_its_denm_msgs::access::setHeadingValue (HeadingValue &heading, const double value)
	Set the HeadingValue object.
template<typename HeadingConfidence>
void	etsi_its_denm_msgs::access::setHeadingConfidence (HeadingConfidence &heading_confidence, const double value)
	Set the Heading Confidence object.
template<typename Heading, typename HeadingConfidence = decltype(Heading::heading_confidence)>
void	etsi_its_denm_msgs::access::setHeadingCDD (Heading &heading, const double value, double confidence=std::numeric_limits< double >::infinity())
	Set the Heading object.
template<typename YawRate, typename YawRateValue = decltype(YawRate::yaw_rate_value), typename YawRateConfidence = decltype(YawRate::yaw_rate_confidence)>
void	etsi_its_denm_msgs::access::setYawRateCDD (YawRate &yaw_rate, const double value, double confidence=std::numeric_limits< double >::infinity())
	Set the Yaw Rate object.
template<typename SemiAxisLength>
void	etsi_its_denm_msgs::access::setSemiAxis (SemiAxisLength &semi_axis_length, const double length)
	Set the Semi Axis length.
template<typename PosConfidenceEllipse>
void	etsi_its_denm_msgs::access::setPosConfidenceEllipse (PosConfidenceEllipse &position_confidence_ellipse, const double semi_major_axis, const double semi_minor_axis, const double orientation)
	Set the Pos Confidence Ellipse object.
std::tuple< double, double, double >	etsi_its_denm_msgs::access::confidenceEllipseFromCovMatrix (const std::array< double, 4 > &covariance_matrix, const double object_heading)
	Gets the values needed to set a confidence ellipse from a covariance matrix.
std::tuple< double, double, double >	etsi_its_denm_msgs::access::confidenceEllipseFromWGSCovMatrix (const std::array< double, 4 > &covariance_matrix)
	Gets the values needed to set a confidence ellipse from a covariance matrix.
template<typename PosConfidenceEllipse>
void	etsi_its_denm_msgs::access::setPosConfidenceEllipse (PosConfidenceEllipse &position_confidence_ellipse, const std::array< double, 4 > &covariance_matrix, const double object_heading)
	Set the Pos Confidence Ellipse object.
template<typename PosConfidenceEllipse>
void	etsi_its_denm_msgs::access::setWGSPosConfidenceEllipse (PosConfidenceEllipse &position_confidence_ellipse, const std::array< double, 4 > &covariance_matrix)
	Set the Pos Confidence Ellipse object.
void	etsi_its_denm_msgs::access::setStationId (StationID &station_id, const uint32_t id_value)
	Set the Station Id object.
void	etsi_its_denm_msgs::access::setItsPduHeader (ItsPduHeader &header, const uint8_t message_id, const uint32_t station_id, const uint8_t protocol_version=0)
	Set the Its Pdu Header object.
void	etsi_its_denm_msgs::access::setStationType (StationType &station_type, const uint8_t value)
	Set the Station Type.
void	etsi_its_denm_msgs::access::setItsPduHeader (DENM &denm, const uint32_t station_id, const uint8_t protocol_version=0)
	Set the ItsPduHeader-object for a DENM.
void	etsi_its_denm_msgs::access::setReferenceTime (DENM &denm, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
	Set the ReferenceTime-value.
void	etsi_its_denm_msgs::access::setStationType (DENM &denm, const int value)
	Set the StationType for a DENM.
void	etsi_its_denm_msgs::access::setReferencePosition (DENM &denm, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
	Set the ReferencePositionWithConfidence for a DENM.
void	etsi_its_denm_msgs::access::setIsHeadingPresent (DENM &denm, bool presence_of_heading)
	Set the IsHeadingPresent object for DENM.
void	etsi_its_denm_msgs::access::setHeading (DENM &denm, const double heading_val, const double confidence=std::numeric_limits< double >::infinity())
	Set the Heading for a DENM.
void	etsi_its_denm_msgs::access::setIsSpeedPresent (DENM &denm, bool presence_of_speed)
	Set the IsSpeedPresent object for DENM.
void	etsi_its_denm_msgs::access::setSpeed (DENM &denm, const double speed_val, const double confidence=std::numeric_limits< double >::infinity())
	Set the vehicle speed.
void	etsi_its_denm_msgs::access::setFromUTMPosition (DENM &denm, const gm::PointStamped &utm_position, const int &zone, const bool &northp)
	Set the ReferencePosition of a DENM from a given UTM-Position.
void	etsi_its_denm_msgs::access::setDrivingLaneStatus (DrivingLaneStatus &driving_lane_status, const std::vector< bool > &bits)
	Set the Driving Lane Status by a vector of bools.
void	etsi_its_denm_msgs::access::setLightBarSirenInUse (LightBarSirenInUse &light_bar_siren_in_use, const std::vector< bool > &bits)
	Set the Lightbar Siren In Use by a vector of bools.

Detailed Description

Setter functions for the ETSI ITS DENM (EN)

Definition in file denm_setters.h.

Function Documentation

confidenceEllipseFromCovMatrix()

std::tuple< double, double, double > etsi_its_denm_msgs::access::confidenceEllipseFromCovMatrix ( const std::array< double, 4 > & covariance_matrix, const double object_heading )

inline

Gets the values needed to set a confidence ellipse from a covariance matrix.

Parameters

covariance_matrix	The four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the object (x = longitudinal, y = lateral)
object_heading	The heading of the object in rad, with respect to WGS84

Returns

std::tuple<double, double, double> semi_major_axis [m], semi_minor_axis [m], orientation [deg], with respect to WGS84

Definition at line 467 of file denm_setters.h.

confidenceEllipseFromWGSCovMatrix()

std::tuple< double, double, double > etsi_its_denm_msgs::access::confidenceEllipseFromWGSCovMatrix ( const std::array< double, 4 > & covariance_matrix )

inline

Gets the values needed to set a confidence ellipse from a covariance matrix.

Parameters

covariance_matrix	The four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the WGS axes (x = North, y = East)
object_heading	The heading of the object in rad, with respect to WGS84

Returns

std::tuple<double, double, double> semi_major_axis [m], semi_minor_axis [m], orientation [deg], with respect to WGS84

Definition at line 508 of file denm_setters.h.

inline void setItsPduHeader(DENM& denm, const uint32_t station_id, const uint8_t protocol_version = 0) {

setItsPduHeader(denm.header, ItsPduHeader::MESSAGE_ID_DENM, station_id, protocol_version);

}

inline void setReferenceTime(

DENM& denm, const uint64_t unix_nanosecs,

const uint16_t n_leap_seconds = etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second) {

TimestampIts t_its;

setTimestampITS(t_its, unix_nanosecs, n_leap_seconds);

throwIfOutOfRange(t_its.value, TimestampIts::MIN, TimestampIts::MAX, "TimestampIts");

denm.denm.management.reference_time = t_its;

}

inline void setStationType(DENM& denm, const int value) { setStationType(denm.denm.management.station_type, value); }

inline void setReferencePosition(DENM& denm, const double latitude, const double longitude,

const double altitude = AltitudeValue::UNAVAILABLE) {

setReferencePosition(denm.denm.management.event_position, latitude, longitude, altitude);

}

inline void setIsHeadingPresent(DENM& denm, bool presence_of_heading) {

if (denm.denm.location_is_present) {

denm.denm.location.event_position_heading_is_present = presence_of_heading;

} else {

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

}

}

inline void setHeading(DENM& denm, const double heading_val, const double confidence = std::numeric_limits<double>::infinity()) {

if (denm.denm.location_is_present) {

setHeadingCDD(denm.denm.location.event_position_heading, heading_val, confidence);

setIsHeadingPresent(denm, true);

} else {

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

}

}

inline void setIsSpeedPresent(DENM& denm, bool presence_of_speed) {

if (denm.denm.location_is_present) {

denm.denm.location.event_speed_is_present = presence_of_speed;

} else {

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

}

}

inline void setSpeed(DENM& denm, const double speed_val, const double confidence = std::numeric_limits<double>::infinity()) {

if (denm.denm.location_is_present) {

setSpeed(denm.denm.location.event_speed, speed_val, confidence);

setIsSpeedPresent(denm, true);

} else {

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

}

}

inline void setFromUTMPosition(DENM& denm, const gm::PointStamped& utm_position, const int& zone, const bool& northp) {

setFromUTMPosition(denm.denm.management.event_position, utm_position, zone, northp);

}

inline void setDrivingLaneStatus(DrivingLaneStatus& driving_lane_status, const std::vector<bool>& bits) {

setBitString(driving_lane_status, bits);

}

inline void setLightBarSirenInUse(LightBarSirenInUse& light_bar_siren_in_use, const std::vector<bool>& bits) {

setBitString(light_bar_siren_in_use, bits);

}

} // namespace etsi_its_denm_msgs::access