mapem_ts_utils.h File Reference

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

#include <ctime>
#include <GeographicLib/UTMUPS.hpp>

Go to the source code of this file.

Functions
uint64_t	etsi_its_mapem_ts_msgs::access::getUnixSecondsOfYear (const uint64_t unixSecond)
	Get the unix seconds of the beginning of a year that corresponds to a given unix timestamp.
uint64_t	etsi_its_mapem_ts_msgs::access::getUnixNanosecondsFromMinuteOfTheYear (const MinuteOfTheYear &moy, const uint64_t unix_nanoseconds_estimate)
	Get the unix nanoseconds from MinuteOfTheYear object.
uint64_t	etsi_its_mapem_ts_msgs::access::getUnixNanosecondsFromMapData (const MapData &map, const uint64_t unix_nanoseconds_estimate)
	Get the unix nanoseconds from MapData object.
uint64_t	etsi_its_mapem_ts_msgs::access::getUnixNanoseconds (const MAPEM &mapem, const uint64_t unix_timestamp_estimate)
	Get the unix nanoseconds from MinuteOfTheYear object.
gm::PointStamped	etsi_its_mapem_ts_msgs::access::getUTMPosition (const Position3D &reference_position, int &zone, bool &northp)
	Get the UTM Position defined by the given Position3D.
gm::PointStamped	etsi_its_mapem_ts_msgs::access::getUTMPositionWithConvergenceAngle (const Position3D &reference_position, int &zone, bool &northp, double &conv_angle)
	Get the UTM Position defined by the given Position3D along with the grid-convergence angle.
gm::PointStamped	etsi_its_mapem_ts_msgs::access::getRefPointUTMPosition (const IntersectionGeometry &intsctn, int &zone, bool &northp)
	Get the UTM Position of ref_point defined by the Position3D along with the grid-convergence angle in an IntersectionGeometry object.
gm::PointStamped	etsi_its_mapem_ts_msgs::access::getRefPointUTMPositionWithConvergenceAngle (const IntersectionGeometry &intsctn, int &zone, bool &northp, double &conv_angle)
	Get the UTM Position of ref_point defined by the Position3D in an IntersectionGeometry object.

Detailed Description

Utility functions for the ETSI ITS MAPEM.

Definition in file mapem_ts_utils.h.

Function Documentation

getRefPointUTMPosition()

gm::PointStamped etsi_its_mapem_ts_msgs::access::getRefPointUTMPosition ( const IntersectionGeometry & intsctn, int & zone, bool & northp )

inline

Get the UTM Position of ref_point defined by the Position3D along with the grid-convergence angle in an IntersectionGeometry object.

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

Parameters

[in]	intsctn	IntersectionGeometry 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 144 of file mapem_ts_utils.h.

                                                                                                             {
    return getUTMPosition(intsctn.ref_point, zone, northp);
  }

getRefPointUTMPositionWithConvergenceAngle()

gm::PointStamped etsi_its_mapem_ts_msgs::access::getRefPointUTMPositionWithConvergenceAngle ( const IntersectionGeometry & intsctn, int & zone, bool & northp, double & conv_angle )

inline

Get the UTM Position of ref_point defined by the Position3D in an IntersectionGeometry object.

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

Parameters

[in]	intsctn	IntersectionGeometry to get the UTM Position from
[out]	zone	the UTM zone (zero means UPS)
[out]	northp	hemisphere (true means north, false means south)
[out]	conv_angle	grid-convergence angle in degree

Returns

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

Definition at line 160 of file mapem_ts_utils.h.

                                                                                                                                                     {
    return getUTMPositionWithConvergenceAngle(intsctn.ref_point, zone, northp, conv_angle);
  }

getUnixNanoseconds()

uint64_t etsi_its_mapem_ts_msgs::access::getUnixNanoseconds ( const MAPEM & mapem, const uint64_t unix_timestamp_estimate )

inline

Get the unix nanoseconds from MinuteOfTheYear object.

Parameters

mapem	given MAPEM object
unix_nanoseconds_estimate	unix timestamp to derive the current year from in nanoseconds

Returns

uint64_t unix timestamp according to the stored MinuteOfTheYear in nanoseconds

Definition at line 71 of file mapem_ts_utils.h.

                                                                                                 {
    return getUnixNanosecondsFromMapData(mapem.map, unix_timestamp_estimate);
  }

getUnixNanosecondsFromMapData()

uint64_t etsi_its_mapem_ts_msgs::access::getUnixNanosecondsFromMapData ( const MapData & map, const uint64_t unix_nanoseconds_estimate )

inline

Get the unix nanoseconds from MapData object.

Parameters

map	given MapData object
unix_nanoseconds_estimate	unix timestamp to derive the current year from in nanoseconds

Returns

uint64_t unix timestamp according to the given MinuteOfTheYear in nanoseconds

Definition at line 60 of file mapem_ts_utils.h.

                                                                                                              {
    return getUnixNanosecondsFromMinuteOfTheYear(getMinuteOfTheYear(map), unix_nanoseconds_estimate);
  }

getUnixNanosecondsFromMinuteOfTheYear()

uint64_t etsi_its_mapem_ts_msgs::access::getUnixNanosecondsFromMinuteOfTheYear ( const MinuteOfTheYear & moy, const uint64_t unix_nanoseconds_estimate )

inline

Get the unix nanoseconds from MinuteOfTheYear object.

Parameters

moy	given MinuteOfTheYear object
unix_nanoseconds_estimate	unix timestamp to derive the current year from in nanoseconds

Returns

uint64_t unix timestamp according to the given MinuteOfTheYear in nanoseconds

Definition at line 49 of file mapem_ts_utils.h.

                                                                                                                              {
    return ((uint64_t)(moy.value*60) + getUnixSecondsOfYear(unix_nanoseconds_estimate*1e-9))*1e9;
  }

getUnixSecondsOfYear()

uint64_t etsi_its_mapem_ts_msgs::access::getUnixSecondsOfYear ( const uint64_t unixSecond )

inline

Get the unix seconds of the beginning of a year that corresponds to a given unix timestamp.

Parameters

unixSecond

timestamp that defines the year for that the unix seconds for the beginning of the year should be derived

Returns

uint64_t unix seconds of the beginning of the year

Definition at line 24 of file mapem_ts_utils.h.

                                                                  {
 
    // Get current time as a time_point
    time_t ts = static_cast<time_t>(unixSecond); // Convert uint64_t to time_t
 
    struct tm* timeinfo;
    timeinfo = gmtime(&ts);
 
    // Set the timeinfo to the beginning of the year
    timeinfo->tm_sec = 0;
    timeinfo->tm_min = 0;
    timeinfo->tm_hour = 0;
    timeinfo->tm_mday = 1;
    timeinfo->tm_mon = 0;
 
    return timegm(timeinfo); // Convert struct tm back to Unix timestamp
  }

getUTMPosition()

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

inline

Get the UTM Position defined by the given Position3D.

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

Parameters

[in]	reference_position	Position3D 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 86 of file mapem_ts_utils.h.

                                                                                                      {
    gm::PointStamped utm_point;
    double latitude = getLatitude(reference_position.lat);
    double longitude = getLongitude(reference_position.lon);
    if(reference_position.elevation_is_present) utm_point.point.z = getElevation(reference_position.elevation);
    try {
      GeographicLib::UTMUPS::Forward(latitude, longitude, zone, northp, utm_point.point.x, utm_point.point.y);
      std::string hemisphere;
      if(northp) hemisphere="N";
      else hemisphere="S";
      utm_point.header.frame_id="utm_"+std::to_string(zone)+hemisphere;
    } catch (GeographicLib::GeographicErr& e) {
      throw std::invalid_argument(e.what());
    }
    return utm_point;
  }

getUTMPositionWithConvergenceAngle()

gm::PointStamped etsi_its_mapem_ts_msgs::access::getUTMPositionWithConvergenceAngle ( const Position3D & reference_position, int & zone, bool & northp, double & conv_angle )

inline

Get the UTM Position defined by the given Position3D along with the grid-convergence angle.

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

Parameters

[in]	reference_position	Position3D to get the UTM Position from
[out]	zone	the UTM zone (zero means UPS)
[out]	northp	hemisphere (true means north, false means south)
[out]	conv_angle	grid-convergence angle in degree

Returns

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

Definition at line 115 of file mapem_ts_utils.h.

                                                                                                                                              {
    gm::PointStamped utm_point;
    double latitude = getLatitude(reference_position.lat);
    double longitude = getLongitude(reference_position.lon);
    if(reference_position.elevation_is_present) utm_point.point.z = getElevation(reference_position.elevation);
    try {
      double scale;
      GeographicLib::UTMUPS::Forward(latitude, longitude, zone, northp, utm_point.point.x, utm_point.point.y, conv_angle, scale);
      std::string hemisphere;
      if(northp) hemisphere="N";
      else hemisphere="S";
      utm_point.header.frame_id="utm_"+std::to_string(zone)+hemisphere;
    } catch (GeographicLib::GeographicErr& e) {
      throw std::invalid_argument(e.what());
    }
    return utm_point;
  }