Getter functions for the UULM MCM (TR) More...

Functions
double	etsi_its_mcm_uulm_msgs::access::getLatitude (const Latitude &latitude)
	Get the Latitude value.

double	etsi_its_mcm_uulm_msgs::access::getLongitude (const Longitude &longitude)
	Get the Longitude value.

double	etsi_its_mcm_uulm_msgs::access::getAltitude (const Altitude &altitude)
	Get the Altitude value.

template<typename T>
gm::PointStamped	etsi_its_mcm_uulm_msgs::access::getUTMPosition (const T &reference_position, int &zone, bool &northp, double &conv_angle)
	Get the UTM Position defined by the given ReferencePosition along with the grid-convergence angle.

gm::PointStamped	etsi_its_mcm_uulm_msgs::access::getUTMPosition (const MCM &mcm, int &zone, bool &northp, double &conv_angle)
	Get the UTM Position defined within the BasicContainer of the MCM along with the grid-convergence angle.

gm::PointStamped	etsi_its_mcm_uulm_msgs::access::getUTMPosition (const MCM &mcm, int &zone, bool &northp)
	Get the UTM Position defined within the BasicContainer of the MCM.

gm::PointStamped	etsi_its_mcm_uulm_msgs::access::getUTMPosition (const MCM &mcm)
	Get the UTM Position defined within the BasicContainer of the MCM.

SuggestedManeuverContainer	etsi_its_mcm_uulm_msgs::access::getSuggestedManeuverContainer (const MCM &mcm)
	Retrieves the SuggestedManeuverContainer from the given MCM object.

uint32_t	etsi_its_mcm_uulm_msgs::access::getTargetStationId (const SuggestedManeuverContainer &suggested_maneuver_container)
	Retrieves the target station ID from a SuggestedManeuverContainer.

SuggestedManeuver	etsi_its_mcm_uulm_msgs::access::getSuggestedManeuver (const SuggestedManeuverContainer &suggested_maneuver_container)
	Retrieves the suggested maneuver from a SuggestedManeuverContainer.

SuggestedManeuver	etsi_its_mcm_uulm_msgs::access::getSuggestedManeuver (const MCM &mcm)
	Retrieves the suggested maneuver from the given MCM message.

uint16_t	etsi_its_mcm_uulm_msgs::access::getManeuverId (const SuggestedManeuver &suggested_maneuver)
	Retrieves the maneuver ID from a SuggestedManeuver object.

uint16_t	etsi_its_mcm_uulm_msgs::access::getAdviceUpdateId (const SuggestedManeuver &suggested_maneuver)
	Retrieves the advice update identifier from a SuggestedManeuver object.

bool	etsi_its_mcm_uulm_msgs::access::getConfirmationRequiredFlag (const SuggestedManeuver &suggested_maneuver)
	Retrieves the confirmation required flag from a SuggestedManeuver.

ManeuverConstraints	etsi_its_mcm_uulm_msgs::access::getManeuverConstraints (const SuggestedManeuver &suggested_maneuver)
	Retrieves the ManeuverConstraints from a SuggestedManeuver.

ManeuverConstraints	etsi_its_mcm_uulm_msgs::access::getManeuverConstraints (const MCM &mcm)
	Retrieves the maneuver constraints from a given MCM (Maneuver Coordination Message).

std::vector< LongitudinalWaypoint >	etsi_its_mcm_uulm_msgs::access::getLongitudinalWaypoints (const ManeuverConstraints &maneuver_constraints)
	Retrieves the list of longitudinal waypoints from the given maneuver constraints.

std::vector< LongitudinalWaypoint >	etsi_its_mcm_uulm_msgs::access::getLongitudinalWaypoints (const MCM &mcm)
	Retrieves the longitudinal waypoints from the given MCM (Maneuver Coordination Message).

gm::Point	etsi_its_mcm_uulm_msgs::access::getWaypointDelta (const LongitudinalWaypoint &longitudinal_waypoint)
	Converts a LongitudinalWaypoint to a gm::Point.

double	etsi_its_mcm_uulm_msgs::access::getMinArrivalTimeDelta (const LongitudinalWaypoint &longitudinal_waypoint)
	Returns the minimum arrival time delta for a given longitudinal waypoint.

double	etsi_its_mcm_uulm_msgs::access::getMaxArrivalTimeDelta (const LongitudinalWaypoint &longitudinal_waypoint)
	Returns the maximum allowed arrival time delta for a given longitudinal waypoint.

double	etsi_its_mcm_uulm_msgs::access::getMinVelocity (const LongitudinalWaypoint &longitudinal_waypoint)
	Retrieves the minimum velocity from a LongitudinalWaypoint.

double	etsi_its_mcm_uulm_msgs::access::getMaxVelocity (const LongitudinalWaypoint &longitudinal_waypoint)
	Retrieves the maximum velocity from a LongitudinalWaypoint object.

RoadUserContainer	etsi_its_mcm_uulm_msgs::access::getRoadUserContainer (const MCM &mcm)
	Retrieves the RoadUserContainer from the given MCM object.

Detailed Description

Getter functions for the UULM MCM (TR)

Definition in file mcm_getters.h.

Function Documentation

◆ getAdviceUpdateId()

uint16_t etsi_its_mcm_uulm_msgs::access::getAdviceUpdateId ( const SuggestedManeuver & suggested_maneuver )

inline

Retrieves the advice update identifier from a SuggestedManeuver object.

Parameters

suggested_maneuver The SuggestedManeuver object containing the advice update ID.

Returns: The advice update ID as a uint16_t.

Definition at line 215 of file mcm_getters.h.

                                                                               {
  return suggested_maneuver.advice_update_id.value;
}

◆ getAltitude()

double etsi_its_mcm_uulm_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 58 of file mcm_getters.h.

                                                    {
  if (altitude.altitude_value.value == AltitudeValue::UNAVAILABLE) {
    return 0.0;
  }
 
  return ((double)altitude.altitude_value.value) * 1e-2;
}

◆ getConfirmationRequiredFlag()

bool etsi_its_mcm_uulm_msgs::access::getConfirmationRequiredFlag ( const SuggestedManeuver & suggested_maneuver )

inline

Retrieves the confirmation required flag from a SuggestedManeuver.

Parameters

suggested_maneuver The SuggestedManeuver object to query.

Returns: true if confirmation is required, false otherwise.

Definition at line 225 of file mcm_getters.h.

                                                                                     {
  return suggested_maneuver.confirmation_required_flag.value;
}

◆ getLatitude()

double etsi_its_mcm_uulm_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 42 of file mcm_getters.h.

42{ return ((double)latitude.value) * 1e-7; }

◆ getLongitude()

double etsi_its_mcm_uulm_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 50 of file mcm_getters.h.

50{ return ((double)longitude.value) * 1e-7; }

◆ getLongitudinalWaypoints() [1/2]

std::vector< LongitudinalWaypoint > etsi_its_mcm_uulm_msgs::access::getLongitudinalWaypoints ( const ManeuverConstraints & maneuver_constraints )

inline

Retrieves the list of longitudinal waypoints from the given maneuver constraints.

Parameters

maneuver_constraints The ManeuverConstraints object containing the waypoints.

Returns: std::vector<LongitudinalWaypoint> The vector of longitudinal waypoints.

Definition at line 259 of file mcm_getters.h.

                                                                                                                 {
  return maneuver_constraints.longitudinal_maneuver_waypoint_container.array;
}

◆ getLongitudinalWaypoints() [2/2]

std::vector< LongitudinalWaypoint > etsi_its_mcm_uulm_msgs::access::getLongitudinalWaypoints ( const MCM & mcm )

inline

Retrieves the longitudinal waypoints from the given MCM (Maneuver Coordination Message).

Parameters

mcm	The Maneuver Coordination Message from which to extract waypoints.

Returns: A vector of LongitudinalWaypoint objects representing the waypoints.

Definition at line 269 of file mcm_getters.h.

                                                                                {
  return getLongitudinalWaypoints(getManeuverConstraints(mcm));
}

◆ getManeuverConstraints() [1/2]

ManeuverConstraints etsi_its_mcm_uulm_msgs::access::getManeuverConstraints ( const MCM & mcm )

inline

Retrieves the maneuver constraints from a given MCM (Maneuver Coordination Message).

Parameters

mcm	The Maneuver Coordination Message from which to extract constraints.

Returns: ManeuverConstraints The constraints associated with the suggested maneuver.

Definition at line 249 of file mcm_getters.h.

                                                                  {
  return getManeuverConstraints(getSuggestedManeuver(mcm));
}

◆ getManeuverConstraints() [2/2]

ManeuverConstraints etsi_its_mcm_uulm_msgs::access::getManeuverConstraints ( const SuggestedManeuver & suggested_maneuver )

inline

Retrieves the ManeuverConstraints from a SuggestedManeuver.

Parameters

suggested_maneuver The SuggestedManeuver object from which to extract the constraints.

Returns: ManeuverConstraints The maneuver constraints contained in the SuggestedManeuver.

Exceptions

std::invalid_argument If the SuggestedManeuver does not have maneuver constraints present.

Definition at line 236 of file mcm_getters.h.

                                                                                               {
  if (suggested_maneuver.maneuver_parameters.choice != ManeuverParameters::CHOICE_MANEUVER_CONSTRAINTS) {
    throw std::invalid_argument("No maneuver constraints present in SuggestedManeuver");
  }
  return suggested_maneuver.maneuver_parameters.maneuver_constraints;
}

◆ getManeuverId()

uint16_t etsi_its_mcm_uulm_msgs::access::getManeuverId ( const SuggestedManeuver & suggested_maneuver )

inline

Retrieves the maneuver ID from a SuggestedManeuver object.

Parameters

suggested_maneuver The SuggestedManeuver instance to extract the maneuver ID from.

Returns: The maneuver ID as a uint16_t.

Definition at line 205 of file mcm_getters.h.

                                                                           {
  return suggested_maneuver.maneuver_id.value;
}

◆ getMaxArrivalTimeDelta()

double etsi_its_mcm_uulm_msgs::access::getMaxArrivalTimeDelta ( const LongitudinalWaypoint & longitudinal_waypoint )

inline

Returns the maximum allowed arrival time delta for a given longitudinal waypoint.

Parameters

longitudinal_waypoint The waypoint containing the maximum arrival time in milliseconds.

Returns: The maximum arrival time delta in seconds.

Definition at line 303 of file mcm_getters.h.

                                                                                        {
  return static_cast<double>(longitudinal_waypoint.max_arrival_time.value * 1e-3);  // convert ms to s
}

◆ getMaxVelocity()

double etsi_its_mcm_uulm_msgs::access::getMaxVelocity ( const LongitudinalWaypoint & longitudinal_waypoint )

inline

Retrieves the maximum velocity from a LongitudinalWaypoint object.

Parameters

longitudinal_waypoint The LongitudinalWaypoint object containing velocity information in cm/s.

Returns: The maximum velocity in m/s, or NaN if unavailable.

Exceptions

std::invalid_argument If the maximum velocity is not present.

Definition at line 330 of file mcm_getters.h.

                                                                                {
  if (!longitudinal_waypoint.max_velocity_is_present) {
    throw std::invalid_argument("No max velocity present in LongitudinalWaypoint");
  } else if (longitudinal_waypoint.max_velocity.value == SpeedValue::UNAVAILABLE) {
    return std::numeric_limits<double>::quiet_NaN();
  }
  return static_cast<double>(longitudinal_waypoint.max_velocity.value * 1e-2);  // convert cm/s to m/s
}

◆ getMinArrivalTimeDelta()

double etsi_its_mcm_uulm_msgs::access::getMinArrivalTimeDelta ( const LongitudinalWaypoint & longitudinal_waypoint )

inline

Returns the minimum arrival time delta for a given longitudinal waypoint.

Parameters

longitudinal_waypoint The waypoint containing the minimum arrival time in milliseconds.

Returns: The minimum arrival time delta in seconds.

Definition at line 293 of file mcm_getters.h.

                                                                                        {
  return static_cast<double>(longitudinal_waypoint.min_arrival_time.value * 1e-3);  // convert ms to s
}

◆ getMinVelocity()

double etsi_its_mcm_uulm_msgs::access::getMinVelocity ( const LongitudinalWaypoint & longitudinal_waypoint )

inline

Retrieves the minimum velocity from a LongitudinalWaypoint.

Parameters

longitudinal_waypoint The LongitudinalWaypoint containing the velocity information in cm/s.

Returns: The minimum velocity in m/s, or NaN if unavailable.

Exceptions

std::invalid_argument If the minimum velocity is not present.

Definition at line 314 of file mcm_getters.h.

                                                                                {
  if (!longitudinal_waypoint.min_velocity_is_present) {
    throw std::invalid_argument("No min velocity present in LongitudinalWaypoint");
  } else if (longitudinal_waypoint.min_velocity.value == SpeedValue::UNAVAILABLE) {
    return std::numeric_limits<double>::quiet_NaN();
  }
  return static_cast<double>(longitudinal_waypoint.min_velocity.value * 1e-2);  // convert cm/s to m/s
}

◆ getRoadUserContainer()

RoadUserContainer etsi_its_mcm_uulm_msgs::access::getRoadUserContainer ( const MCM & mcm )

inline

Retrieves the RoadUserContainer from the given MCM object.

Parameters

mcm	The MCM object from which to retrieve the RoadUserContainer.

Returns: RoadUserContainer The extracted RoadUserContainer.

Exceptions

std::invalid_argument If the MCM does not contain a RoadUserContainer.

Definition at line 348 of file mcm_getters.h.

                                                              {
  if (mcm.mcm.mcm_parameters.maneuver_container.choice != ManeuverContainer::CHOICE_ROAD_USER_CONTAINER) {
    throw std::invalid_argument("No road user container present in MCM");
  }
  return mcm.mcm.mcm_parameters.maneuver_container.road_user_container;
}

◆ getSuggestedManeuver() [1/2]

SuggestedManeuver etsi_its_mcm_uulm_msgs::access::getSuggestedManeuver ( const MCM & mcm )

inline

Retrieves the suggested maneuver from the given MCM message.

Parameters

mcm	The MCM (Maneuver Coordination Message) object to extract the suggested maneuver from.

Returns: SuggestedManeuver The suggested maneuver contained within the MCM message.

Definition at line 195 of file mcm_getters.h.

                                                              {
  return getSuggestedManeuver(getSuggestedManeuverContainer(mcm));
}

◆ getSuggestedManeuver() [2/2]

SuggestedManeuver etsi_its_mcm_uulm_msgs::access::getSuggestedManeuver ( const SuggestedManeuverContainer & suggested_maneuver_container )

inline

Retrieves the suggested maneuver from a SuggestedManeuverContainer.

Parameters

suggested_maneuver_container The container holding the suggested maneuver.

Returns: SuggestedManeuver The suggested maneuver contained in the input.

Exceptions

std::invalid_argument If no suggested maneuver is present in the container.

Definition at line 182 of file mcm_getters.h.

                                                                                                              {
  if (!suggested_maneuver_container.suggested_maneuver_is_present) {
    throw std::invalid_argument("No suggested maneuver present in SuggestedManeuverContainer");
  }
  return suggested_maneuver_container.suggested_maneuver;
}

◆ getSuggestedManeuverContainer()

SuggestedManeuverContainer etsi_its_mcm_uulm_msgs::access::getSuggestedManeuverContainer ( const MCM & mcm )

inline

Retrieves the SuggestedManeuverContainer from the given MCM object.

Parameters

mcm	The MCM object from which to extract the suggested maneuver container.

Returns: SuggestedManeuverContainer The extracted suggested maneuver container.

Exceptions

std::invalid_argument If the maneuver container does not contain a suggested maneuver container.

Definition at line 158 of file mcm_getters.h.

                                                                                {
  if (mcm.mcm.mcm_parameters.maneuver_container.choice != ManeuverContainer::CHOICE_SUGGESTED_MANEUVER_CONTAINER) {
    throw std::invalid_argument("No suggested maneuver container present in MCM");
  }
  return mcm.mcm.mcm_parameters.maneuver_container.suggested_maneuver_container;
}

◆ getTargetStationId()

uint32_t etsi_its_mcm_uulm_msgs::access::getTargetStationId ( const SuggestedManeuverContainer & suggested_maneuver_container )

inline

Retrieves the target station ID from a SuggestedManeuverContainer.

Parameters

suggested_maneuver_container The container holding the suggested maneuver information.

Returns: The target station ID as a uint32_t.

Definition at line 171 of file mcm_getters.h.

                                                                                                   {
  return suggested_maneuver_container.target_station_id.value;
}

◆ getUTMPosition() [1/4]

gm::PointStamped etsi_its_mcm_uulm_msgs::access::getUTMPosition ( const MCM & mcm )

inline

Get the UTM Position defined within the BasicContainer of the MCM.

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

Parameters

[in] mcm MCM to get the UTM Position from

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

Definition at line 142 of file mcm_getters.h.

                                                     {
  int zone;           // unused, but required by the function signature
  bool northp;        // unused, but required by the function signature
  double conv_angle;  // unused, but required by the function signature
  return getUTMPosition(mcm.mcm.mcm_parameters.basic_container.reference_position, zone, northp, conv_angle);
}

◆ getUTMPosition() [2/4]

gm::PointStamped etsi_its_mcm_uulm_msgs::access::getUTMPosition	(	const MCM &	mcm,
		int &	zone,
		bool &	northp )

inline

Get the UTM Position defined within the BasicContainer of the MCM.

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

Parameters

[in]	mcm	MCM 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 128 of file mcm_getters.h.

                                                                              {
  double conv_angle;  // unused, but required by the function signature
  return getUTMPosition(mcm.mcm.mcm_parameters.basic_container.reference_position, zone, northp, conv_angle);
}

◆ getUTMPosition() [3/4]

gm::PointStamped etsi_its_mcm_uulm_msgs::access::getUTMPosition	(	const MCM &	mcm,
		int &	zone,
		bool &	northp,
		double &	conv_angle )

inline

Get the UTM Position defined within the BasicContainer of the MCM 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]	mcm	MCM 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 113 of file mcm_getters.h.

                                                                                                  {
  return getUTMPosition(mcm.mcm.mcm_parameters.basic_container.reference_position, zone, northp, conv_angle);
}

◆ getUTMPosition() [4/4]

template<typename T>

gm::PointStamped etsi_its_mcm_uulm_msgs::access::getUTMPosition	(	const T &	reference_position,
		int &	zone,
		bool &	northp,
		double &	conv_angle )

inline

Get the UTM Position defined by the given ReferencePosition 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	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)
[out]	conv_angle	grid-convergence angle in degree

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

Definition at line 79 of file mcm_getters.h.

                                                                                                               {
  gm::PointStamped utm_point;
  double latitude = getLatitude(reference_position.latitude);
  double longitude = getLongitude(reference_position.longitude);
  utm_point.point.z = getAltitude(reference_position.altitude);
  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;
}

◆ getWaypointDelta()

gm::Point etsi_its_mcm_uulm_msgs::access::getWaypointDelta ( const LongitudinalWaypoint & longitudinal_waypoint )

inline

Converts a LongitudinalWaypoint to a gm::Point.

Parameters

longitudinal_waypoint The LongitudinalWaypoint containing x and y distances in centimeters.

Returns: gm::Point The point with x and y coordinates in meters, and z set to 0.0.

Definition at line 279 of file mcm_getters.h.

                                                                                   {
  gm::Point point;
  point.x = static_cast<double>(longitudinal_waypoint.waypoint.x_distance.value * 1e-2);  // convert cm to m
  point.y = static_cast<double>(longitudinal_waypoint.waypoint.y_distance.value * 1e-2);  // convert cm to m
  point.z = 0.0;  // z-coordinate is not used in longitudinal waypoints
  return point;
}

Functions

Detailed Description

Function Documentation

◆ getAdviceUpdateId()

◆ getAltitude()

◆ getConfirmationRequiredFlag()

◆ getLatitude()

◆ getLongitude()

◆ getLongitudinalWaypoints() [1/2]

◆ getLongitudinalWaypoints() [2/2]

◆ getManeuverConstraints() [1/2]

◆ getManeuverConstraints() [2/2]

◆ getManeuverId()

◆ getMaxArrivalTimeDelta()

◆ getMaxVelocity()

◆ getMinArrivalTimeDelta()

◆ getMinVelocity()

◆ getRoadUserContainer()

◆ getSuggestedManeuver() [1/2]

◆ getSuggestedManeuver() [2/2]

◆ getSuggestedManeuverContainer()

◆ getTargetStationId()

◆ getUTMPosition() [1/4]

◆ getUTMPosition() [2/4]

◆ getUTMPosition() [3/4]

◆ getUTMPosition() [4/4]

◆ getWaypointDelta()