mapem_ts_setters.h File Reference

Setter functions for the ETSI ITS MAPEM. More...

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

Go to the source code of this file.

Functions
template<typename T1, typename T2>
void	etsi_its_mapem_ts_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_mapem_ts_msgs::access::throwIfNotPresent (const bool is_present, const std::string val_desc)
	Throws an exception if the given value is not present.
void	etsi_its_mapem_ts_msgs::access::setMinuteOfTheYear (MinuteOfTheYear &moy, const uint32_t moy_value)
	Set the MinuteOfTheYear object.
void	etsi_its_mapem_ts_msgs::access::setMinuteOfTheYear (MapData &map, const uint32_t moy_value)
	Set the MinuteOfTheYear for a given MapData object.
void	etsi_its_mapem_ts_msgs::access::setMinuteOfTheYear (MAPEM &mapem, const uint32_t moy_value)
	Set the Minute Of The Year object.
void	etsi_its_mapem_ts_msgs::access::setIntersectionID (IntersectionID &intsct_id, const uint16_t id_value)
	Set the IntersectionID value.
void	etsi_its_mapem_ts_msgs::access::setIntersectionID (IntersectionGeometry &intsct, const uint16_t id_value)
	Set the IntersectionID for an IntersectionGeometry object.
void	etsi_its_mapem_ts_msgs::access::setLatitude (Latitude &latitude, const double deg)
	Set the Latitude object.
void	etsi_its_mapem_ts_msgs::access::setLongitude (Longitude &longitude, const double deg)
	Set the Longitude object.
void	etsi_its_mapem_ts_msgs::access::setElevation (Elevation &elevation, const double value)
	Set the Elevation object.
void	etsi_its_mapem_ts_msgs::access::setPosition3D (Position3D &pos, const double latitude, const double longitude)
	Set the Position3D object.
void	etsi_its_mapem_ts_msgs::access::setPosition3D (Position3D &pos, const double latitude, const double longitude, const double altitude)
	Set the Position3D object.
void	etsi_its_mapem_ts_msgs::access::setPosition3D (IntersectionGeometry &intsct, double latitude, double longitude, double altitude)
	Set the Position3D of IntersectionGeometry object.
void	etsi_its_mapem_ts_msgs::access::setPosition3DFromUTMPosition (Position3D &reference_position, const gm::PointStamped &utm_position, const int zone, const bool northp)
	Set the Position3D from a given UTM-Position.

Detailed Description

Setter functions for the ETSI ITS MAPEM.

Definition in file mapem_ts_setters.h.

Function Documentation

setElevation()

void etsi_its_mapem_ts_msgs::access::setElevation ( Elevation & elevation, const double value )

inline

Set the Elevation object.

Parameters

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

Definition at line 146 of file mapem_ts_setters.h.

setIntersectionID() [1/2]

void etsi_its_mapem_ts_msgs::access::setIntersectionID ( IntersectionGeometry & intsct, const uint16_t id_value )

inline

Set the IntersectionID for an IntersectionGeometry object.

Parameters

intsct	IntersectionGeometry object
id_value	value to set

Definition at line 112 of file mapem_ts_setters.h.

                                                                   {
    int64_t angle_in_10_micro_degree = (int64_t)std::round(deg*1e7);

setIntersectionID() [2/2]

void etsi_its_mapem_ts_msgs::access::setIntersectionID ( IntersectionID & intsct_id, const uint16_t id_value )

inline

Set the IntersectionID value.

Parameters

intsct_id	IntersectionID object
id_value	value to set

Definition at line 101 of file mapem_ts_setters.h.

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

setLatitude()

void etsi_its_mapem_ts_msgs::access::setLatitude ( Latitude & latitude, const double deg )

inline

Set the Latitude object.

Parameters

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

Definition at line 122 of file mapem_ts_setters.h.

                                                                     {
    int64_t alt_in_dm = (int64_t)std::round(value*1e1);

setLongitude()

void etsi_its_mapem_ts_msgs::access::setLongitude ( Longitude & longitude, const double deg )

inline

Set the Longitude object.

Parameters

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

Definition at line 134 of file mapem_ts_setters.h.

setMinuteOfTheYear() [1/3]

void etsi_its_mapem_ts_msgs::access::setMinuteOfTheYear ( MapData & map, const uint32_t moy_value )

inline

Set the MinuteOfTheYear for a given MapData object.

Parameters

map	MapData object
moy_value	value to set

Definition at line 81 of file mapem_ts_setters.h.

setMinuteOfTheYear() [2/3]

void etsi_its_mapem_ts_msgs::access::setMinuteOfTheYear ( MAPEM & mapem, const uint32_t moy_value )

inline

Set the Minute Of The Year object.

Parameters

mapem

Definition at line 90 of file mapem_ts_setters.h.

                                                                                       {
    setIntersectionID(intsct.id.id, id_value);
  }

setMinuteOfTheYear() [3/3]

void etsi_its_mapem_ts_msgs::access::setMinuteOfTheYear ( MinuteOfTheYear & moy, const uint32_t moy_value )

inline

Set the MinuteOfTheYear object.

Parameters

moy	MinuteOfTheYear object
moy_value	value to set

Definition at line 70 of file mapem_ts_setters.h.

setPosition3D() [1/3]

void etsi_its_mapem_ts_msgs::access::setPosition3D ( IntersectionGeometry & intsct, double latitude, double longitude, double altitude )

inline

Set the Position3D of IntersectionGeometry object.

Parameters

intsct	IntersectionGeometry object
latitude	Latitude value in degree as decimal number
longitude	Longitude value in degree as decimal number
altitude	Altitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 188 of file mapem_ts_setters.h.

        {

setPosition3D() [2/3]

void etsi_its_mapem_ts_msgs::access::setPosition3D ( Position3D & pos, const double latitude, const double longitude )

inline

Set the Position3D object.

Parameters

pos	object to set
latitude	Latitude value in degree as decimal number
longitude	Longitude value in degree as decimal number

Definition at line 160 of file mapem_ts_setters.h.

setPosition3D() [3/3]

void etsi_its_mapem_ts_msgs::access::setPosition3D ( Position3D & pos, const double latitude, const double longitude, const double altitude )

inline

Set the Position3D object.

Parameters

pos	object to set
latitude	Latitude value in degree as decimal number
longitude	Longitude value in degree as decimal number
altitude	Altitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 174 of file mapem_ts_setters.h.

setPosition3DFromUTMPosition()

void etsi_its_mapem_ts_msgs::access::setPosition3DFromUTMPosition ( Position3D & reference_position, const gm::PointStamped & utm_position, const int zone, const bool northp )

inline

Set the Position3D from a given UTM-Position.

The position is transformed to latitude and longitude by using GeographicLib::UTMUPS The z-Coordinate is directly used as altitude value The frame_id of the given utm_position must be set to 'utm_<zone><N/S>'

Parameters

[out]	reference_position	Position3D to set
[in]	utm_position	geometry_msgs::PointStamped describing the given utm position
[in]	zone	the UTM zone (zero means UPS) of the given position
[in]	northp	hemisphere (true means north, false means south)

Definition at line 204 of file mapem_ts_setters.h.

                                 {
 
namespace access {
 
#include <etsi_its_msgs_utils/impl/checks.h>

  inline void setMinuteOfTheYear(MinuteOfTheYear& moy, const uint32_t moy_value) {
    throwIfOutOfRange(moy_value, MinuteOfTheYear::MIN, MinuteOfTheYear::MAX, "MinuteOfTheYear");
    moy.value = moy_value;
  }

  inline void setMinuteOfTheYear(MapData& map, const uint32_t moy_value) {
    setMinuteOfTheYear(map.time_stamp, moy_value);
  }

  inline void setMinuteOfTheYear(MAPEM& mapem, const uint32_t moy_value) {
    setMinuteOfTheYear(mapem.map, moy_value);
    mapem.map.time_stamp_is_present = true;
  }

  inline void setIntersectionID(IntersectionID& intsct_id, const uint16_t id_value) {
    throwIfOutOfRange(id_value, IntersectionID::MIN, IntersectionID::MAX, "IntersectionID");
    intsct_id.value = id_value;
  }

  inline void setIntersectionID(IntersectionGeometry& intsct, const uint16_t id_value) {
    setIntersectionID(intsct.id.id, id_value);
  }

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

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

  inline void setElevation(Elevation& elevation, const double value) {
    int64_t alt_in_dm = (int64_t)std::round(value*1e1);
    if(alt_in_dm>=Elevation::MIN && alt_in_dm<=Elevation::MAX) elevation.value = alt_in_dm;
    else if(alt_in_dm<Elevation::MIN) elevation.value = Elevation::MIN;
    else if(alt_in_dm>Elevation::MAX) elevation.value = Elevation::MAX;
  }

  inline void setPosition3D(Position3D& pos, const double latitude, const double longitude) {
    setLatitude(pos.lat, latitude);
    setLongitude(pos.lon, longitude);
    pos.elevation_is_present = false;
  }

  inline void setPosition3D(Position3D& pos, const double latitude, const double longitude, const double altitude) {
    setPosition3D(pos, latitude, longitude);
    setElevation(pos.elevation, altitude);
    pos.elevation_is_present = true;
  }

  inline void setPosition3D(IntersectionGeometry& intsct, double latitude, double longitude, double altitude) {
    setPosition3D(intsct.ref_point, latitude, longitude, altitude);
  }

  inline void setPosition3DFromUTMPosition(Position3D& reference_position, const gm::PointStamped& utm_position, const int zone, const bool northp) {
    std::string required_frame_prefix = "utm_";
    if(utm_position.header.frame_id.rfind(required_frame_prefix, 0) != 0)
    {
      throw std::invalid_argument("Frame-ID of UTM Position '"+utm_position.header.frame_id+"' does not start with required prefix '"+required_frame_prefix+"'!");
    }
    double latitude, longitude;
    try {
      GeographicLib::UTMUPS::Reverse(zone, northp, utm_position.point.x, utm_position.point.y, latitude, longitude);
    } catch (GeographicLib::GeographicErr& e) {
      throw std::invalid_argument(e.what());
    }
    setPosition3D(reference_position, latitude, longitude, utm_position.point.z);
  }
 
} // namespace access
 
} // namespace etsi_its_mapem_ts_msgs

throwIfNotPresent()

void etsi_its_mapem_ts_msgs::access::throwIfNotPresent ( const bool is_present, const std::string val_desc )

inline

Throws an exception if the given value is not present.

Parameters

is_present	Whether the value is present.
val_desc	Description of the value for the exception message.

Definition at line 58 of file mapem_ts_getters.h.

                                                              {
    MinuteOfTheYear moy = getMinuteOfTheYear(map);
    return moy.value;

throwIfOutOfRange()

template<typename T1, typename T2>

void etsi_its_mapem_ts_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.

Template Parameters

T1
T2

Parameters

val	The value to check if it is in the range.
min	The minimum value of the range.
max	The maximum value of the range.
val_desc	Description of the value for the exception message.

Definition at line 47 of file mapem_ts_getters.h.

                                                                {
    throwIfNotPresent(map.time_stamp_is_present, "map.time_stamp");
    return map.time_stamp;
  }