convenience_state_getters.hpp

Go to the documentation of this file.

// Copyright Institute for Automotive Engineering (ika), RWTH Aachen University
// SPDX-License-Identifier: MIT
 
#pragma once
 
#include <perception_msgs_utils/checks.hpp>
#include <perception_msgs_utils/covariance_transform.hpp>
#include <perception_msgs_utils/state_getters.hpp>
#include <perception_msgs_utils/state_index.hpp>
 
#include <algorithm>
#include <cmath>
 
namespace perception_msgs {
 
namespace object_access {
 
// --- full state/covariance -------------------------------------------------
 
inline std::vector<double> getContinuousState(const ObjectState& state) {
  sanityCheckContinuousState(state);
  return state.continuous_state;
}
 
template <typename T>
inline std::vector<double> getContinuousState(const T& obj) {
  return getContinuousState(obj.state);
}
 
inline std::vector<long int> getDiscreteState(const ObjectState& state) {
  sanityCheckContinuousState(state);
  return state.discrete_state;
}
 
template <typename T>
inline std::vector<long int> getDiscreteState(const T& obj) {
  return getDiscreteState(obj.state);
}
 
inline std::vector<double> getContinuousStateCovariance(const ObjectState& state) {
  sanityCheckContinuousStateCovariance(state);
  if (!state.continuous_state_covariance.empty()) return state.continuous_state_covariance;
  const int n = getContinuousStateSize(state.model_id);
  std::vector<double> covariance(n * n, CONTINUOUS_STATE_COVARIANCE_INIT);
  for (int i = 0; i < n; ++i) covariance[n * i + i] = CONTINUOUS_STATE_COVARIANCE_INVALID;
  return covariance;
}
 
template <typename T>
inline std::vector<double> getContinuousStateCovariance(const T& obj) {
  return getContinuousStateCovariance(obj.state);
}
 
inline double getContinuousStateCovarianceAt(const ObjectState& state, const unsigned int i, const unsigned int j) {
  const int n = getContinuousStateSize(state);
  if (i >= static_cast<unsigned int>(n) || j >= static_cast<unsigned int>(n))
    throw std::out_of_range("Covariance coordinates out of range");
  sanityCheckContinuousStateCovariance(state);
  const auto& covariance = state.continuous_state_covariance;
  if (covariance.empty()) return i == j ? CONTINUOUS_STATE_COVARIANCE_INVALID : CONTINUOUS_STATE_COVARIANCE_INIT;
  return covariance.at(n * i + j);
}
 
template <typename T>
inline double getContinuousStateCovarianceAt(const T& obj, const unsigned int i, const unsigned int j) {
  return getContinuousStateCovarianceAt(obj.state, i, j);
}
 
inline std::vector<double> getContinuousStateCovarianceDiagonal(const ObjectState& state) {
  const int n = getContinuousStateSize(state);
  std::vector<double> diagonal(n);
  for (int i = 0; i < n; i++) diagonal[i] = getContinuousStateCovarianceAt(state, i, i);
  return diagonal;
}
 
template <typename T>
inline std::vector<double> getContinuousStateCovarianceDiagonal(const T& obj) {
  return getContinuousStateCovarianceDiagonal(obj.state);
}
 
// --- vector quantities -----------------------------------------------------
 
inline gm::Point getPosition(const ObjectState& state) {
  gm::Point position;
  position.x = getX(state);
  position.y = getY(state);
  position.z = getZ(state);
  return position;
}
 
template <typename T>
inline gm::Point getPosition(const T& obj) {
  return getPosition(obj.state);
}
 
inline gm::Quaternion getOrientation(const ObjectState& state) {
  tf2::Quaternion q;
  double roll{0}, pitch{0}, yaw{0};
  if (hasRoll(state.model_id)) roll = getRoll(state);
  if (hasPitch(state.model_id)) pitch = getPitch(state);
  if (hasYaw(state.model_id)) yaw = getYaw(state);
  q.setRPY(roll, pitch, yaw);
  return tf2::toMsg(q);
}
 
template <typename T>
inline gm::Quaternion getOrientation(const T& obj) {
  return getOrientation(obj.state);
}
 
inline gm::Pose getPose(const ObjectState& state) {
  gm::Pose pose;
  pose.position = getPosition(state);
  pose.orientation = getOrientation(state);
  return pose;
}
 
inline gm::Point getCenterPosition(const ObjectState& state) {
  gm::Point position = getPosition(state);
  const auto orientation = getOrientation(state);
  const gm::Vector3 offset_to_center = state.reference_point.translation_to_geometric_center;
  tf2::Quaternion q;
  tf2::fromMsg(orientation, q);
  const tf2::Vector3 offset_to_center_tf2(offset_to_center.x, offset_to_center.y, offset_to_center.z);
  const tf2::Vector3 rotated_offset_to_center = tf2::quatRotate(q, offset_to_center_tf2);
  position.x += rotated_offset_to_center.x();
  position.y += rotated_offset_to_center.y();
  position.z += rotated_offset_to_center.z();
  return position;
}
 
template <typename T>
inline gm::Point getCenterPosition(const T& object) {
  return getCenterPosition(object.state);
}
 
template <typename T>
inline gm::Pose getPose(const T& obj) {
  return getPose(obj.state);
}
 
inline std::vector<double> getPoseCovariance(const ObjectState& state) {
  const int n = 6;
  const int model_id = state.model_id;
  std::vector<double> pose_covariance(n * n, CONTINUOUS_STATE_COVARIANCE_INIT);
  int ix, jx;
  for (int i = 0; i < n; i++) {
    for (int j = 0; j < n; j++) {
      if (i == 0 && hasX(model_id))
        ix = indexX(model_id);
      else if (i == 1 && hasY(model_id))
        ix = indexY(model_id);
      else if (i == 2 && hasZ(model_id))
        ix = indexZ(model_id);
      else if (i == 3 && hasRoll(model_id))
        ix = indexRoll(model_id);
      else if (i == 4 && hasPitch(model_id))
        ix = indexPitch(model_id);
      else if (i == 5 && hasYaw(model_id))
        ix = indexYaw(model_id);
      else
        continue;
 
      if (j == 0 && hasX(model_id))
        jx = indexX(model_id);
      else if (j == 1 && hasY(model_id))
        jx = indexY(model_id);
      else if (j == 2 && hasZ(model_id))
        jx = indexZ(model_id);
      else if (j == 3 && hasRoll(model_id))
        jx = indexRoll(model_id);
      else if (j == 4 && hasPitch(model_id))
        jx = indexPitch(model_id);
      else if (j == 5 && hasYaw(model_id))
        jx = indexYaw(model_id);
      else
        continue;
 
      pose_covariance[n * i + j] = getContinuousStateCovarianceAt(state, ix, jx);
    }
  }
  return pose_covariance;
}
 
template <typename T>
inline std::vector<double> getPoseCovariance(const T& obj) {
  return getPoseCovariance(obj.state);
}
 
inline gm::PoseWithCovariance getPoseWithCovariance(const ObjectState& state) {
  gm::PoseWithCovariance pose_with_covariance;
  pose_with_covariance.pose = getPose(state);
  std::vector<double> covariance_vector = getPoseCovariance(state);
  gm::PoseWithCovariance::_covariance_type covariance;
  std::copy(covariance_vector.begin(), covariance_vector.end(), covariance.begin());
  pose_with_covariance.covariance = covariance;
  return pose_with_covariance;
}
 
template <typename T>
inline gm::PoseWithCovariance getPoseWithCovariance(const T& obj) {
  return getPoseWithCovariance(obj.state);
}
 
inline gm::Vector3 getVelocity(const ObjectState& state) {
  gm::Vector3 velocity;
  velocity.x = getVelLon(state);
  velocity.y = getVelLat(state);
  velocity.z = 0.0;
  return velocity;
}
 
template <typename T>
inline gm::Vector3 getVelocity(const T& obj) {
  return getVelocity(obj.state);
}
 
inline double getVelocityMagnitude(const ObjectState& state) {
  gm::Vector3 vel = getVelocity(state);
  using namespace std;
  return sqrt(pow(vel.x, 2) + pow(vel.y, 2) + pow(vel.z, 2));
}
 
template <typename T>
inline double getVelocityMagnitude(const T& obj) {
  return getVelocityMagnitude(obj.state);
}
 
inline gm::Vector3 getAcceleration(const ObjectState& state) {
  gm::Vector3 acceleration;
  acceleration.x = getAccLon(state);
  acceleration.y = getAccLat(state);
  acceleration.z = 0.0;
  return acceleration;
}
 
template <typename T>
inline gm::Vector3 getAcceleration(const T& obj) {
  return getAcceleration(obj.state);
}
 
inline double getAccelerationMagnitude(const ObjectState& state) {
  gm::Vector3 acc = getAcceleration(state);
  using namespace std;
  return sqrt(pow(acc.x, 2) + pow(acc.y, 2) + pow(acc.z, 2));
}
 
template <typename T>
inline double getAccelerationMagnitude(const T& obj) {
  return getAccelerationMagnitude(obj.state);
}
 
// --- alternative state entries ---------------------------------------------
 
inline double getRollInDeg(const ObjectState& state) { return getRoll(state) * 180.0 / M_PI; }
 
template <typename T>
inline double getRollInDeg(const T& obj) {
  return getRollInDeg(obj.state);
}
 
inline double getPitchInDeg(const ObjectState& state) { return getPitch(state) * 180.0 / M_PI; }
 
template <typename T>
inline double getPitchInDeg(const T& obj) {
  return getPitchInDeg(obj.state);
}
 
inline double getYawInDeg(const ObjectState& state) { return getYaw(state) * 180.0 / M_PI; }
 
template <typename T>
inline double getYawInDeg(const T& obj) {
  return getYawInDeg(obj.state);
}
 
inline gm::PoseWithCovariance getVelocityXYZWithCovariance(const ObjectState& state) {
  gm::PoseWithCovariance vel_lon_lat, vel_xyz;
  vel_lon_lat.pose.position.x = getVelLon(state);
  vel_lon_lat.pose.position.y = getVelLat(state);
  vel_lon_lat.pose.position.z = 0.0;
 
  int ix, jx, n = 2;
  auto model_id = state.model_id;
  for (int i = 0; i < n; i++) {
    for (int j = 0; j < n; j++) {
      if (i == 0 && hasVelLon(model_id))
        ix = indexVelLon(model_id);
      else if (i == 1 && hasVelLat(model_id))
        ix = indexVelLat(model_id);
      else
        continue;
 
      if (j == 0 && hasVelLon(model_id))
        jx = indexVelLon(model_id);
      else if (j == 1 && hasVelLat(model_id))
        jx = indexVelLat(model_id);
      else
        continue;
 
      vel_lon_lat.covariance.at(6 * i + j) = getContinuousStateCovarianceAt(state, ix, jx);
    }
  }
 
  tf2::Quaternion q;
  q.setRPY(0.0, 0.0, getYaw(state));
  gm::TransformStamped tf;
  tf.transform.rotation = tf2::toMsg(q);
 
  gm::PoseWithCovarianceStamped vel_lon_lat_stamped, vel_xyz_stamped;
  vel_lon_lat_stamped.pose = vel_lon_lat;
  transformPoseWithCovariance(vel_lon_lat_stamped, vel_xyz_stamped, tf);
  vel_xyz = vel_xyz_stamped.pose;
 
  return vel_xyz;
}
 
template <typename T>
inline gm::PoseWithCovariance getVelocityXYZWithCovariance(const T& obj) {
  return getVelocityXYZWithCovariance(obj.state);
}
 
inline gm::Vector3 getVelocityXYZ(const ObjectState& state) {
  gm::Vector3 vel_lon_lat, vel_xyz;
  vel_lon_lat = getVelocity(state);
  tf2::Quaternion q;
  q.setRPY(0.0, 0.0, getYaw(state));
  gm::TransformStamped tf;
  tf.transform.rotation = tf2::toMsg(q);
  tf2::doTransform(vel_lon_lat, vel_xyz, tf);
  return vel_xyz;
}
 
template <typename T>
inline gm::Vector3 getVelocityXYZ(const T& obj) {
  return getVelocityXYZ(obj.state);
}
 
inline double getVelX(const ObjectState& state) { return getVelocityXYZ(state).x; }
 
template <typename T>
inline double getVelX(const T& obj) {
  return getVelX(obj.state);
}
 
inline double getVelY(const ObjectState& state) { return getVelocityXYZ(state).y; }
 
template <typename T>
inline double getVelY(const T& obj) {
  return getVelY(obj.state);
}
 
inline gm::PoseWithCovariance getAccelerationXYZWithCovariance(const ObjectState& state) {
  gm::PoseWithCovariance acc_lon_lat, acc_xyz;
  acc_lon_lat.pose.position.x = getAccLon(state);
  acc_lon_lat.pose.position.y = getAccLat(state);
  acc_lon_lat.pose.position.z = 0.0;
 
  int ix, jx, n = 2;
  auto model_id = state.model_id;
  for (int i = 0; i < n; i++) {
    for (int j = 0; j < n; j++) {
      if (i == 0 && hasAccLon(model_id))
        ix = indexAccLon(model_id);
      else if (i == 1 && hasAccLat(model_id))
        ix = indexAccLat(model_id);
      else
        continue;
 
      if (j == 0 && hasAccLon(model_id))
        jx = indexAccLon(model_id);
      else if (j == 1 && hasAccLat(model_id))
        jx = indexAccLat(model_id);
      else
        continue;
 
      acc_lon_lat.covariance.at(6 * i + j) = getContinuousStateCovarianceAt(state, ix, jx);
    }
  }
 
  tf2::Quaternion q;
  q.setRPY(0.0, 0.0, getYaw(state));
  gm::TransformStamped tf;
  tf.transform.rotation = tf2::toMsg(q);
  gm::PoseWithCovarianceStamped acc_lon_lat_stamped, acc_xyz_stamped;
  acc_lon_lat_stamped.pose = acc_lon_lat;
  transformPoseWithCovariance(acc_lon_lat_stamped, acc_xyz_stamped, tf);
  acc_xyz = acc_xyz_stamped.pose;
  return acc_xyz;
}
 
template <typename T>
inline gm::PoseWithCovariance getAccelerationXYZWithCovariance(const T& obj) {
  return getAccelerationXYZWithCovariance(obj.state);
}
 
inline gm::Vector3 getAccelerationXYZ(const ObjectState& state) {
  gm::Vector3 acc_lon_lat, acc_xyz;
  acc_lon_lat = getAcceleration(state);
  tf2::Quaternion q;
  q.setRPY(0.0, 0.0, getYaw(state));
  gm::TransformStamped tf;
  tf.transform.rotation = tf2::toMsg(q);
  tf2::doTransform(acc_lon_lat, acc_xyz, tf);
  return acc_xyz;
}
 
template <typename T>
inline gm::Vector3 getAccelerationXYZ(const T& obj) {
  return getAccelerationXYZ(obj.state);
}
 
inline double getAccX(const ObjectState& state) { return getAccelerationXYZ(state).x; }
 
template <typename T>
inline double getAccX(const T& obj) {
  return getAccX(obj.state);
}
 
inline double getAccY(const ObjectState& state) { return getAccelerationXYZ(state).y; }
 
template <typename T>
inline double getAccY(const T& obj) {
  return getAccY(obj.state);
}
 
// --- misc ------------------------------------------------------------------
 
inline ObjectClassification getClassWithHighestProbability(const ObjectState& state) {
  ObjectClassification highest_prob_class;
  auto highest_prob_class_it = std::max_element(
      state.classifications.begin(), state.classifications.end(),
      [](const ObjectClassification& c1, const ObjectClassification& c2) { return c1.probability < c2.probability; });
  if (highest_prob_class_it == state.classifications.end()) {
    highest_prob_class.probability = -1.0;
    highest_prob_class.type = ObjectClassification::UNKNOWN;
  } else {
    highest_prob_class = *highest_prob_class_it;
  }
  return highest_prob_class;
}
 
template <typename T>
inline ObjectClassification getClassWithHighestProbability(const T& obj) {
  return getClassWithHighestProbability(obj.state);
}
 
}  // namespace object_access
 
}  // namespace perception_msgs