perception_interfaces 1.0.0
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Functions
convenience_state_setters.h File Reference

Convenience setter functions for objects state members. More...

#include <perception_msgs_utils/impl/checks.h>
#include <perception_msgs_utils/impl/state_index.h>
#include <perception_msgs_utils/impl/state_setters.h>
#include <array>

Go to the source code of this file.

Functions

void perception_msgs::object_access::setContinuousState (ObjectState &state, const std::vector< double > &val)
 Set the continuous state of a given object state.
 
template<typename T >
void perception_msgs::object_access::setContinuousState (T &obj, const std::vector< double > &val)
 Set the continuous state of a given template object that contains an object state.
 
void perception_msgs::object_access::setDiscreteState (ObjectState &state, const std::vector< long int > &val)
 Set the discrete state of a given object state.
 
template<typename T >
void perception_msgs::object_access::setDiscreteState (T &obj, const std::vector< long int > &val)
 Set the discrete state of a given template object that contains an object state.
 
void perception_msgs::object_access::setContinuousStateCovariance (ObjectState &state, const std::vector< double > &val)
 Set the continuous state covariance of a given object state.
 
template<typename T >
void perception_msgs::object_access::setContinuousStateCovariance (T &obj, const std::vector< double > &val)
 Set the continuous state covariance of a given template object that contains an object state.
 
void perception_msgs::object_access::setContinuousStateCovarianceAt (ObjectState &state, const unsigned int i, const unsigned int j, const double val)
 Set the continuous state covariance entry at (i,j) of a given object state.
 
template<typename T >
void perception_msgs::object_access::setContinuousStateCovarianceAt (T &obj, const unsigned int i, const unsigned int j, const double val)
 Set the continuous state covariance at (i,j) of a given template object that contains an object state.
 
void perception_msgs::object_access::setContinuousStateCovarianceDiagonal (ObjectState &state, const std::vector< double > val)
 Set the continuous state covariance diagonal of a given object state.
 
template<typename T >
void perception_msgs::object_access::setContinuousStateCovarianceDiagonal (T &obj, const std::vector< double > val)
 Set the continuous state covariance diagonal of a given template object that contains an object state.
 
void perception_msgs::object_access::setPosition (ObjectState &state, const gm::Point val, const bool reset_covariance=true)
 Set the position of a given object state.
 
template<typename T >
void perception_msgs::object_access::setPosition (T &obj, const gm::Point val, const bool reset_covariance=true)
 Set the position of a given template object that contains an object state.
 
void perception_msgs::object_access::setPosition (ObjectState &state, const std::array< double, 3 > &val, const bool reset_covariance=true)
 Set the position of a given object state.
 
template<typename T >
void perception_msgs::object_access::setPosition (T &obj, const std::array< double, 3 > &val, const bool reset_covariance=true)
 Set the position of a given template object that contains an object state.
 
void perception_msgs::object_access::setOrientation (ObjectState &state, const gm::Quaternion &val, const bool reset_covariance=true)
 Set the orientation of a given object state.
 
template<typename T >
void perception_msgs::object_access::setOrientation (T &obj, const gm::Quaternion &val, const bool reset_covariance=true)
 Set the orientation of a given template object that contains an object state.
 
void perception_msgs::object_access::setOrientation (ObjectState &state, const std::array< double, 3 > &val, const bool reset_covariance=true)
 Set the orientation of a given object state.
 
template<typename T >
void perception_msgs::object_access::setOrientation (T &obj, const std::array< double, 3 > &val, const bool reset_covariance=true)
 Set the orientation of a given template object that contains an object state.
 
void perception_msgs::object_access::setPose (ObjectState &state, const gm::Pose &val, const bool reset_covariance=true)
 Set the pose of a given object state.
 
template<typename T >
void perception_msgs::object_access::setPose (T &obj, const gm::Pose &val, const bool reset_covariance=true)
 Set the pose of a given template object that contains an object state.
 
void perception_msgs::object_access::setPose (ObjectState &state, const std::array< double, 3 > &xyz, const std::array< double, 3 > &rpy, const bool reset_covariance=true)
 Set the pose of a given object state.
 
template<typename T >
void perception_msgs::object_access::setPose (T &obj, const std::array< double, 3 > &xyz, const std::array< double, 3 > &rpy, const bool reset_covariance=true)
 Set the pose of a given template object that contains an object state.
 
void perception_msgs::object_access::setPoseCovariance (ObjectState &state, const gm::PoseWithCovariance::_covariance_type &val)
 Set the pose covariance of a given object state.
 
template<typename T >
void perception_msgs::object_access::setPoseCovariance (T &obj, const gm::PoseWithCovariance::_covariance_type &val)
 Set the pose covariance of a given template object that contains an object state.
 
void perception_msgs::object_access::setPoseWithCovariance (ObjectState &state, const gm::PoseWithCovariance &val)
 Set the pose with covariance of a given object state.
 
template<typename T >
void perception_msgs::object_access::setPoseWithCovariance (T &obj, const gm::PoseWithCovariance &val)
 Set the pose with covariance of a given template object that contains an object state.
 
void perception_msgs::object_access::setVelocity (ObjectState &state, const gm::Vector3 &val, const bool reset_covariance=true)
 Set the velocity of a given object state.
 
template<typename T >
void perception_msgs::object_access::setVelocity (T &obj, const gm::Vector3 &val, const bool reset_covariance=true)
 Set the velocity of a given template object that contains an object state.
 
void perception_msgs::object_access::setVelocity (ObjectState &state, const std::array< double, 2 > &val, const bool reset_covariance=true)
 Set the velocity of a given object state.
 
template<typename T >
void perception_msgs::object_access::setVelocity (T &obj, const std::array< double, 2 > &val, const bool reset_covariance=true)
 Set the velocity of a given template object that contains an object state.
 
void perception_msgs::object_access::setAcceleration (ObjectState &state, const gm::Vector3 &val, const bool reset_covariance=true)
 Set the acceleration of a given object state.
 
template<typename T >
void perception_msgs::object_access::setAcceleration (T &obj, const gm::Vector3 &val, const bool reset_covariance=true)
 Set the acceleration of a given template object that contains an object state.
 
void perception_msgs::object_access::setAcceleration (ObjectState &state, const std::array< double, 2 > &val, const bool reset_covariance=true)
 Set the acceleration of a given object state.
 
template<typename T >
void perception_msgs::object_access::setAcceleration (T &obj, const std::array< double, 2 > &val, const bool reset_covariance=true)
 Set the acceleration of a given template object that contains an object state.
 
void perception_msgs::object_access::setRollInDeg (ObjectState &state, const double val, const bool reset_covariance=true)
 Set the roll in degree of a given object state.
 
template<typename T >
void perception_msgs::object_access::setRollInDeg (T &obj, const double val, const bool reset_covariance=true)
 Set the roll in deg of a given template object that contains an object state.
 
void perception_msgs::object_access::setPitchInDeg (ObjectState &state, const double val, const bool reset_covariance=true)
 Set the pitch in degree of a given object state.
 
template<typename T >
void perception_msgs::object_access::setPitchInDeg (T &obj, const double val, const bool reset_covariance=true)
 Set the pitch in degree of a given template object that contains an object state.
 
void perception_msgs::object_access::setYawInDeg (ObjectState &state, const double val, const bool reset_covariance=true)
 Set the yaw in degree of a given object state.
 
template<typename T >
void perception_msgs::object_access::setYawInDeg (T &obj, const double val, const bool reset_covariance=true)
 Set the yaw in degree of a given template object that contains an object state.
 
void perception_msgs::object_access::setVelocityXYZYawWithCovariance (ObjectState &state, const gm::Vector3 &vel_xyz_in, const double yaw, const double var_vel_x, const double var_vel_y, const double cov_vel_xy)
 Set the velocity XYZ and yaw with covariance of a given object state.
 
template<typename T >
void perception_msgs::object_access::setVelocityXYZYawWithCovariance (T &obj, const gm::Vector3 &vel_xyz_in, const double yaw, const double var_vel_x, const double var_vel_y, const double cov_vel_xy)
 Set the velocity XYZ and yaw with covariance of a given template object that contains an object state.
 
void perception_msgs::object_access::setVelocityXYZYaw (ObjectState &state, const gm::Vector3 &vel_xyz, const double yaw, const bool reset_covariance=true)
 Set the velocity XYZ and yaw of a given object state.
 
template<typename T >
void perception_msgs::object_access::setVelocityXYZYaw (T &obj, const gm::Vector3 &vel_xyz, const double yaw, const bool reset_covariance=true)
 Set the velocity XYZ and yaw of a given template object that contains an object state.
 
void perception_msgs::object_access::setAccelerationXYZYawWithCovariance (ObjectState &state, const gm::Vector3 &acc_xyz_in, const double yaw, const double var_acc_x, const double var_acc_y, const double cov_acc_xy)
 Set the acceleration XYZ and yaw with covariance of a given object state.
 
template<typename T >
void perception_msgs::object_access::setAccelerationXYZYawWithCovariance (T &obj, const gm::Vector3 &acc_xyz_in, const double yaw, const double var_acc_x, const double var_acc_y, const double cov_acc_xy)
 Set the acceleration XYZ and yaw with covariance of a given template object that contains an object state.
 
void perception_msgs::object_access::setAccelerationXYZYaw (ObjectState &state, const gm::Vector3 &acc_xyz, const double yaw, const bool reset_covariance=true)
 Set the acceleration XYZ and yaw of a given template object that contains an object state.
 
template<typename T >
void perception_msgs::object_access::setAccelerationXYZYaw (T &obj, const gm::Vector3 &acc_xyz, const double yaw, const bool reset_covariance=true)
 Set the acceleration XYZ and yaw of a given template object that contains an object state.
 

Detailed Description

Convenience setter functions for objects state members.

============================================================================ MIT License

Copyright (c) 2025 Institute for Automotive Engineering (ika), RWTH Aachen University

Permission is hereby granted, free of charge, to any person obtaining a copy of this software and associated documentation files (the "Software"), to deal in the Software without restriction, including without limitation the rights to use, copy, modify, merge, publish, distribute, sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is furnished to do so, subject to the following conditions:

The above copyright notice and this permission notice shall be included in all copies or substantial portions of the Software.

THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE

SOFTWARE.

Definition in file convenience_state_setters.h.

Function Documentation

◆ setAcceleration() [1/4]

void perception_msgs::object_access::setAcceleration ( ObjectState &  state,
const gm::Vector3 &  val,
const bool  reset_covariance = true 
)
inline

Set the acceleration of a given object state.

Parameters
state
val
reset_covariance

Definition at line 492 of file convenience_state_setters.h.

493{
494 setAccLon(state, val.x, reset_covariance);
495 setAccLat(state, val.y, reset_covariance);
496}
perception_msgs::object_access::setAccLat
void setAccLat(ObjectState &state, const double val, const bool reset_covariance=true)
Set the lateral acceleration for a given object state.
Definition state_setters.h:210
perception_msgs::object_access::setAccLon
void setAccLon(ObjectState &state, const double val, const bool reset_covariance=true)
Set the longitudinal acceleration for a given object state.
Definition state_setters.h:183

◆ setAcceleration() [2/4]

void perception_msgs::object_access::setAcceleration ( ObjectState &  state,
const std::array< double, 2 > &  val,
const bool  reset_covariance = true 
)
inline

Set the acceleration of a given object state.

Parameters
state
val
reset_covariance

Definition at line 519 of file convenience_state_setters.h.

520{
521 setAccLon(state, val[0], reset_covariance);
522 setAccLat(state, val[1], reset_covariance);
523}

◆ setAcceleration() [3/4]

template<typename T >
void perception_msgs::object_access::setAcceleration ( T &  obj,
const gm::Vector3 &  val,
const bool  reset_covariance = true 
)
inline

Set the acceleration of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 507 of file convenience_state_setters.h.

508{
509 setAcceleration(obj.state, val, reset_covariance);
510}
perception_msgs::object_access::setAcceleration
void setAcceleration(ObjectState &state, const gm::Vector3 &val, const bool reset_covariance=true)
Set the acceleration of a given object state.
Definition convenience_state_setters.h:492

◆ setAcceleration() [4/4]

template<typename T >
void perception_msgs::object_access::setAcceleration ( T &  obj,
const std::array< double, 2 > &  val,
const bool  reset_covariance = true 
)
inline

Set the acceleration of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 534 of file convenience_state_setters.h.

535{
536 setAcceleration(obj.state, val, reset_covariance);
537}

◆ setAccelerationXYZYaw() [1/2]

void perception_msgs::object_access::setAccelerationXYZYaw ( ObjectState &  state,
const gm::Vector3 &  acc_xyz,
const double  yaw,
const bool  reset_covariance = true 
)
inline

Set the acceleration XYZ and yaw of a given template object that contains an object state.

Parameters
state
acc_xyz
yaw
reset_covariance

Definition at line 829 of file convenience_state_setters.h.

831{
832 gm::Vector3 acc_lon_lat, acc_xyz_in;
833 acc_xyz_in = acc_xyz;
834 tf2::Quaternion q;
835 q.setRPY(0.0, 0.0, -yaw);
836 gm::TransformStamped tf;
837 tf.transform.rotation = tf2::toMsg(q);
838 tf2::doTransform(acc_xyz_in, acc_lon_lat, tf);
839 setAcceleration(state, acc_lon_lat, reset_covariance);
840 setYaw(state, yaw, reset_covariance);
841}
perception_msgs::object_access::setYaw
void setYaw(ObjectState &state, const double val, const bool reset_covariance=true)
Set the yaw for a given object state.
Definition state_setters.h:351

◆ setAccelerationXYZYaw() [2/2]

template<typename T >
void perception_msgs::object_access::setAccelerationXYZYaw ( T &  obj,
const gm::Vector3 &  acc_xyz,
const double  yaw,
const bool  reset_covariance = true 
)
inline

Set the acceleration XYZ and yaw of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
acc_xyz
yaw
reset_covariance

Definition at line 853 of file convenience_state_setters.h.

854{
855 setAccelerationXYZYaw(obj.state, acc_xyz, yaw, reset_covariance);
856}
perception_msgs::object_access::setAccelerationXYZYaw
void setAccelerationXYZYaw(ObjectState &state, const gm::Vector3 &acc_xyz, const double yaw, const bool reset_covariance=true)
Set the acceleration XYZ and yaw of a given template object that contains an object state.
Definition convenience_state_setters.h:829

◆ setAccelerationXYZYawWithCovariance() [1/2]

void perception_msgs::object_access::setAccelerationXYZYawWithCovariance ( ObjectState &  state,
const gm::Vector3 &  acc_xyz_in,
const double  yaw,
const double  var_acc_x,
const double  var_acc_y,
const double  cov_acc_xy 
)
inline

Set the acceleration XYZ and yaw with covariance of a given object state.

Parameters
state
acc_xyz_in
yaw
var_acc_x
var_acc_y
cov_acc_xy

Definition at line 748 of file convenience_state_setters.h.

751{
752 gm::PoseWithCovariance acc_lon_lat, acc_xyz;
753 acc_xyz.pose.position.x = acc_xyz_in.x;
754 acc_xyz.pose.position.y = acc_xyz_in.y;
755 acc_xyz.pose.position.z = 0.0;
756
757 acc_xyz.covariance.at(0) = var_acc_x;
758 acc_xyz.covariance.at(1) = cov_acc_xy;
759 acc_xyz.covariance.at(6) = cov_acc_xy;
760 acc_xyz.covariance.at(7) = var_acc_y;
761
762 tf2::Quaternion q;
763 q.setRPY(0.0, 0.0, -yaw);
764 gm::TransformStamped tf;
765 tf.transform.rotation = tf2::toMsg(q);
766
767#ifdef ROS1
768 gm::PoseWithCovarianceStamped acc_lon_lat_stamped, acc_xyz_stamped;
769 acc_xyz_stamped.pose = acc_xyz;
770 tf2::doTransform(acc_xyz_stamped, acc_lon_lat_stamped, tf);
771 acc_lon_lat = acc_lon_lat_stamped.pose;
772#else
773 tf2::doTransform(acc_xyz, acc_lon_lat, tf);
774#endif
775
776 setAcceleration(state, {acc_lon_lat.pose.position.x, acc_lon_lat.pose.position.y}, false);
777 setYaw(state, yaw, false);
778
779 int ix, jx, n = 2;
780 auto model_id = state.model_id;
781 for (int i = 0; i < n; i++) {
782 for (int j = 0; j < n; j++) {
783 if (i == 0 && hasAccLon(model_id))
784 ix = indexAccLon(model_id);
785 else if (i == 1 && hasAccLat(model_id))
786 ix = indexAccLat(model_id);
787 else
788 continue;
789
790 if (j == 0 && hasAccLon(model_id))
791 jx = indexAccLon(model_id);
792 else if (j == 1 && hasAccLat(model_id))
793 jx = indexAccLat(model_id);
794 else
795 continue;
796
797 setContinuousStateCovarianceAt(state, ix, jx, acc_lon_lat.covariance.at(6 * i + j));
798 }
799 }
800}
perception_msgs::object_access::setContinuousStateCovarianceAt
void setContinuousStateCovarianceAt(ObjectState &state, const unsigned int i, const unsigned int j, const double val)
Set the continuous state covariance entry at (i,j) of a given object state.
Definition convenience_state_setters.h:129
perception_msgs::object_access::hasAccLat
bool hasAccLat(const unsigned char &model_id)
Indicates if given model contains a lateral acceleration.
Definition state_index.h:607
perception_msgs::object_access::indexAccLon
int indexAccLon(const unsigned char &model_id)
Get the vector-index that stores the longitudinal acceleration for a given model-id.
Definition state_index.h:156
perception_msgs::object_access::indexAccLat
int indexAccLat(const unsigned char &model_id)
Get the vector-index that stores the lateral acceleration for a given model-id.
Definition state_index.h:177
perception_msgs::object_access::hasAccLon
bool hasAccLon(const unsigned char &model_id)
Indicates if given model contains a longitudinal acceleration.
Definition state_index.h:585

◆ setAccelerationXYZYawWithCovariance() [2/2]

template<typename T >
void perception_msgs::object_access::setAccelerationXYZYawWithCovariance ( T &  obj,
const gm::Vector3 &  acc_xyz_in,
const double  yaw,
const double  var_acc_x,
const double  var_acc_y,
const double  cov_acc_xy 
)
inline

Set the acceleration XYZ and yaw with covariance of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
acc_xyz_in
yaw
var_acc_x
var_acc_y
cov_acc_xy

Definition at line 814 of file convenience_state_setters.h.

817{
818 return setAccelerationXYZYawWithCovariance(obj.state, acc_xyz_in, yaw, var_acc_x, var_acc_y, cov_acc_xy);
819}
perception_msgs::object_access::setAccelerationXYZYawWithCovariance
void setAccelerationXYZYawWithCovariance(ObjectState &state, const gm::Vector3 &acc_xyz_in, const double yaw, const double var_acc_x, const double var_acc_y, const double cov_acc_xy)
Set the acceleration XYZ and yaw with covariance of a given object state.
Definition convenience_state_setters.h:748

◆ setContinuousState() [1/2]

void perception_msgs::object_access::setContinuousState ( ObjectState &  state,
const std::vector< double > &  val 
)
inline

Set the continuous state of a given object state.

Parameters
state
val

Definition at line 52 of file convenience_state_setters.h.

53{
54 state.continuous_state = val;
55 sanityCheckContinuousState(state);
56}
perception_msgs::object_access::sanityCheckContinuousState
void sanityCheckContinuousState(const ObjectState &state)
Perform sanity check on continuous state of given object state.
Definition checks.h:84

◆ setContinuousState() [2/2]

template<typename T >
void perception_msgs::object_access::setContinuousState ( T &  obj,
const std::vector< double > &  val 
)
inline

Set the continuous state of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val

Definition at line 66 of file convenience_state_setters.h.

67{
68 setContinuousState(obj.state, val);
69}
perception_msgs::object_access::setContinuousState
void setContinuousState(ObjectState &state, const std::vector< double > &val)
Set the continuous state of a given object state.
Definition convenience_state_setters.h:52

◆ setContinuousStateCovariance() [1/2]

void perception_msgs::object_access::setContinuousStateCovariance ( ObjectState &  state,
const std::vector< double > &  val 
)
inline

Set the continuous state covariance of a given object state.

Parameters
state
val

Definition at line 102 of file convenience_state_setters.h.

103{
104 state.continuous_state_covariance = val;
105 sanityCheckContinuousStateCovariance(state);
106}
perception_msgs::object_access::sanityCheckContinuousStateCovariance
void sanityCheckContinuousStateCovariance(const ObjectState &state)
Perform sanity check on continuous state covariance of given object state.
Definition checks.h:124

◆ setContinuousStateCovariance() [2/2]

template<typename T >
void perception_msgs::object_access::setContinuousStateCovariance ( T &  obj,
const std::vector< double > &  val 
)
inline

Set the continuous state covariance of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val

Definition at line 116 of file convenience_state_setters.h.

117{
118 setContinuousStateCovariance(obj.state, val);
119}
perception_msgs::object_access::setContinuousStateCovariance
void setContinuousStateCovariance(ObjectState &state, const std::vector< double > &val)
Set the continuous state covariance of a given object state.
Definition convenience_state_setters.h:102

◆ setContinuousStateCovarianceAt() [1/2]

void perception_msgs::object_access::setContinuousStateCovarianceAt ( ObjectState &  state,
const unsigned int  i,
const unsigned int  j,
const double  val 
)
inline

Set the continuous state covariance entry at (i,j) of a given object state.

Parameters
state
i
j
val

Definition at line 129 of file convenience_state_setters.h.

131{
132 sanityCheckContinuousStateCovariance(state);
133 const int n = getContinuousStateSize(state);
134 state.continuous_state_covariance[n * i + j] = val;
135}
perception_msgs::object_access::getContinuousStateSize
int getContinuousStateSize(const ObjectState &state)
Get the continuous state size for a given object state.
Definition utils.h:51

◆ setContinuousStateCovarianceAt() [2/2]

template<typename T >
void perception_msgs::object_access::setContinuousStateCovarianceAt ( T &  obj,
const unsigned int  i,
const unsigned int  j,
const double  val 
)
inline

Set the continuous state covariance at (i,j) of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
i
j
val

Definition at line 147 of file convenience_state_setters.h.

149{
150 setContinuousStateCovarianceAt(obj.state, i, j, val);
151}

◆ setContinuousStateCovarianceDiagonal() [1/2]

void perception_msgs::object_access::setContinuousStateCovarianceDiagonal ( ObjectState &  state,
const std::vector< double >  val 
)
inline

Set the continuous state covariance diagonal of a given object state.

Parameters
state
val

Definition at line 159 of file convenience_state_setters.h.

160{
161 const int n = getContinuousStateSize(state);
162 for (int i = 0; i < n; i++) setContinuousStateCovarianceAt(state, i, i, val[i]);
163}

◆ setContinuousStateCovarianceDiagonal() [2/2]

template<typename T >
void perception_msgs::object_access::setContinuousStateCovarianceDiagonal ( T &  obj,
const std::vector< double >  val 
)
inline

Set the continuous state covariance diagonal of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val

Definition at line 173 of file convenience_state_setters.h.

174{
175 setContinuousStateCovarianceDiagonal(obj.state, val);
176}
perception_msgs::object_access::setContinuousStateCovarianceDiagonal
void setContinuousStateCovarianceDiagonal(ObjectState &state, const std::vector< double > val)
Set the continuous state covariance diagonal of a given object state.
Definition convenience_state_setters.h:159

◆ setDiscreteState() [1/2]

void perception_msgs::object_access::setDiscreteState ( ObjectState &  state,
const std::vector< long int > &  val 
)
inline

Set the discrete state of a given object state.

Parameters
state
val

Definition at line 77 of file convenience_state_setters.h.

78{
79 state.discrete_state = val;
80 sanityCheckDiscreteState(state);
81}
perception_msgs::object_access::sanityCheckDiscreteState
void sanityCheckDiscreteState(const ObjectState &state)
Perform sanity check on discrete state of given object state.
Definition checks.h:104

◆ setDiscreteState() [2/2]

template<typename T >
void perception_msgs::object_access::setDiscreteState ( T &  obj,
const std::vector< long int > &  val 
)
inline

Set the discrete state of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val

Definition at line 91 of file convenience_state_setters.h.

92{
93 setDiscreteState(obj.state, val);
94}
perception_msgs::object_access::setDiscreteState
void setDiscreteState(ObjectState &state, const std::vector< long int > &val)
Set the discrete state of a given object state.
Definition convenience_state_setters.h:77

◆ setOrientation() [1/4]

void perception_msgs::object_access::setOrientation ( ObjectState &  state,
const gm::Quaternion &  val,
const bool  reset_covariance = true 
)
inline

Set the orientation of a given object state.

Parameters
state
val
reset_covariance

Definition at line 243 of file convenience_state_setters.h.

244{
245 tf2::Quaternion q;
246 tf2::fromMsg(val, q);
247 double roll, pitch, yaw;
248 tf2::Matrix3x3(q).getRPY(roll, pitch, yaw);
249 if (hasRoll(state.model_id)) setRoll(state, roll, reset_covariance);
250 if (hasPitch(state.model_id)) setPitch(state, pitch, reset_covariance);
251 if (hasYaw(state.model_id)) setYaw(state, yaw, reset_covariance);
252}
perception_msgs::object_access::hasYaw
bool hasYaw(const unsigned char &model_id)
Indicates if given model contains a yaw.
Definition state_index.h:717
perception_msgs::object_access::hasRoll
bool hasRoll(const unsigned char &model_id)
Indicates if given model contains a roll.
Definition state_index.h:629
perception_msgs::object_access::hasPitch
bool hasPitch(const unsigned char &model_id)
Indicates if given model contains a pitch.
Definition state_index.h:673
perception_msgs::object_access::setRoll
void setRoll(ObjectState &state, const double val, const bool reset_covariance=true)
Set the roll for a given object state.
Definition state_setters.h:237
perception_msgs::object_access::setPitch
void setPitch(ObjectState &state, const double val, const bool reset_covariance=true)
Set the pitch for a given object state.
Definition state_setters.h:294

◆ setOrientation() [2/4]

void perception_msgs::object_access::setOrientation ( ObjectState &  state,
const std::array< double, 3 > &  val,
const bool  reset_covariance = true 
)
inline

Set the orientation of a given object state.

Parameters
state
val
reset_covariance

Definition at line 275 of file convenience_state_setters.h.

276{
277 if (hasRoll(state.model_id)) setRoll(state, val[0], reset_covariance);
278 if (hasPitch(state.model_id)) setPitch(state, val[1], reset_covariance);
279 if (hasYaw(state.model_id)) setYaw(state, val[2], reset_covariance);
280}

◆ setOrientation() [3/4]

template<typename T >
void perception_msgs::object_access::setOrientation ( T &  obj,
const gm::Quaternion &  val,
const bool  reset_covariance = true 
)
inline

Set the orientation of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 263 of file convenience_state_setters.h.

264{
265 setOrientation(obj.state, val, reset_covariance);
266}
perception_msgs::object_access::setOrientation
void setOrientation(ObjectState &state, const gm::Quaternion &val, const bool reset_covariance=true)
Set the orientation of a given object state.
Definition convenience_state_setters.h:243

◆ setOrientation() [4/4]

template<typename T >
void perception_msgs::object_access::setOrientation ( T &  obj,
const std::array< double, 3 > &  val,
const bool  reset_covariance = true 
)
inline

Set the orientation of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 291 of file convenience_state_setters.h.

292{
293 setOrientation(obj.state, val, reset_covariance);
294}

◆ setPitchInDeg() [1/2]

void perception_msgs::object_access::setPitchInDeg ( ObjectState &  state,
const double  val,
const bool  reset_covariance = true 
)
inline

Set the pitch in degree of a given object state.

Parameters
state
val
reset_covariance

Definition at line 574 of file convenience_state_setters.h.

575{
576 setPitch(state, val * M_PI / 180.0, reset_covariance);
577}

◆ setPitchInDeg() [2/2]

template<typename T >
void perception_msgs::object_access::setPitchInDeg ( T &  obj,
const double  val,
const bool  reset_covariance = true 
)
inline

Set the pitch in degree of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 588 of file convenience_state_setters.h.

589{
590 setPitchInDeg(obj.state, val, reset_covariance);
591}
perception_msgs::object_access::setPitchInDeg
void setPitchInDeg(ObjectState &state, const double val, const bool reset_covariance=true)
Set the pitch in degree of a given object state.
Definition convenience_state_setters.h:574

◆ setPose() [1/4]

void perception_msgs::object_access::setPose ( ObjectState &  state,
const gm::Pose &  val,
const bool  reset_covariance = true 
)
inline

Set the pose of a given object state.

Parameters
state
val
reset_covariance

Definition at line 303 of file convenience_state_setters.h.

304{
305 setPosition(state, val.position, reset_covariance);
306 setOrientation(state, val.orientation, reset_covariance);
307}
perception_msgs::object_access::setPosition
void setPosition(ObjectState &state, const gm::Point val, const bool reset_covariance=true)
Set the position of a given object state.
Definition convenience_state_setters.h:187

◆ setPose() [2/4]

void perception_msgs::object_access::setPose ( ObjectState &  state,
const std::array< double, 3 > &  xyz,
const std::array< double, 3 > &  rpy,
const bool  reset_covariance = true 
)
inline

Set the pose of a given object state.

Parameters
state
xyz
rpy
reset_covariance

Definition at line 331 of file convenience_state_setters.h.

333{
334 setPosition(state, xyz, reset_covariance);
335 setOrientation(state, rpy, reset_covariance);
336}

◆ setPose() [3/4]

template<typename T >
void perception_msgs::object_access::setPose ( T &  obj,
const gm::Pose &  val,
const bool  reset_covariance = true 
)
inline

Set the pose of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 318 of file convenience_state_setters.h.

319{
320 setPose(obj.state, val, reset_covariance);
321}
perception_msgs::object_access::setPose
void setPose(ObjectState &state, const gm::Pose &val, const bool reset_covariance=true)
Set the pose of a given object state.
Definition convenience_state_setters.h:303

◆ setPose() [4/4]

template<typename T >
void perception_msgs::object_access::setPose ( T &  obj,
const std::array< double, 3 > &  xyz,
const std::array< double, 3 > &  rpy,
const bool  reset_covariance = true 
)
inline

Set the pose of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
xyz
rpy
reset_covariance

Definition at line 348 of file convenience_state_setters.h.

349{
350 setPose(obj.state, xyz, rpy, reset_covariance);
351}

◆ setPoseCovariance() [1/2]

void perception_msgs::object_access::setPoseCovariance ( ObjectState &  state,
const gm::PoseWithCovariance::_covariance_type &  val 
)
inline

Set the pose covariance of a given object state.

Parameters
state
val

Definition at line 359 of file convenience_state_setters.h.

361{
362 const int n = 6;
363 const int model_id = state.model_id;
364
365 int ix, jx;
366 for (int i = 0; i < n; i++) {
367 bool i_valid = true;
368 switch (i) {
369 case 0: i_valid = hasX(model_id); ix = i_valid ? indexX(model_id) : 0; break;
370 case 1: i_valid = hasY(model_id); ix = i_valid ? indexY(model_id) : 0; break;
371 case 2: i_valid = hasZ(model_id); ix = i_valid ? indexZ(model_id) : 0; break;
372 case 3: i_valid = hasRoll(model_id); ix = i_valid ? indexRoll(model_id) : 0; break;
373 case 4: i_valid = hasPitch(model_id); ix = i_valid ? indexPitch(model_id) : 0; break;
374 case 5: i_valid = hasYaw(model_id); ix = i_valid ? indexYaw(model_id) : 0; break;
375 }
376 if (!i_valid) continue;
377
378 for (int j = 0; j < n; j++) {
379 bool j_valid = true;
380 switch (j) {
381 case 0: j_valid = hasX(model_id); jx = j_valid ? indexX(model_id) : 0; break;
382 case 1: j_valid = hasY(model_id); jx = j_valid ? indexY(model_id) : 0; break;
383 case 2: j_valid = hasZ(model_id); jx = j_valid ? indexZ(model_id) : 0; break;
384 case 3: j_valid = hasRoll(model_id); jx = j_valid ? indexRoll(model_id) : 0; break;
385 case 4: j_valid = hasPitch(model_id); jx = j_valid ? indexPitch(model_id) : 0; break;
386 case 5: j_valid = hasYaw(model_id); jx = j_valid ? indexYaw(model_id) : 0; break;
387 }
388 if (!j_valid) continue;
389
390 setContinuousStateCovarianceAt(state, ix, jx, val[n * i + j]);
391 }
392 }
393}
perception_msgs::object_access::indexRoll
int indexRoll(const unsigned char &model_id)
Get the vector-index that stores the roll for a given model-id.
Definition state_index.h:198
perception_msgs::object_access::hasZ
bool hasZ(const unsigned char &model_id)
Indicates if given model contains a z-position.
Definition state_index.h:517
perception_msgs::object_access::hasY
bool hasY(const unsigned char &model_id)
Indicates if given model contains a y-position.
Definition state_index.h:493
perception_msgs::object_access::indexY
int indexY(const unsigned char &model_id)
Get the vector-index that stores the y-position for a given model-id.
Definition state_index.h:68
perception_msgs::object_access::hasX
bool hasX(const unsigned char &model_id)
Indicates if given model contains an x-position.
Definition state_index.h:469
perception_msgs::object_access::indexZ
int indexZ(const unsigned char &model_id)
Get the vector-index that stores the z-position for a given model-id.
Definition state_index.h:91
perception_msgs::object_access::indexPitch
int indexPitch(const unsigned char &model_id)
Get the vector-index that stores the pitch for a given model-id.
Definition state_index.h:232
perception_msgs::object_access::indexX
int indexX(const unsigned char &model_id)
Get the vector-index that stores the x-position for a given model-id.
Definition state_index.h:45
perception_msgs::object_access::indexYaw
int indexYaw(const unsigned char &model_id)
Get the vector-index that stores the yaw for a given model-id.
Definition state_index.h:266

◆ setPoseCovariance() [2/2]

template<typename T >
void perception_msgs::object_access::setPoseCovariance ( T &  obj,
const gm::PoseWithCovariance::_covariance_type &  val 
)
inline

Set the pose covariance of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val

Definition at line 402 of file convenience_state_setters.h.

403{
404 setPoseCovariance(obj.state, val);
405}
perception_msgs::object_access::setPoseCovariance
void setPoseCovariance(ObjectState &state, const gm::PoseWithCovariance::_covariance_type &val)
Set the pose covariance of a given object state.
Definition convenience_state_setters.h:359

◆ setPoseWithCovariance() [1/2]

void perception_msgs::object_access::setPoseWithCovariance ( ObjectState &  state,
const gm::PoseWithCovariance &  val 
)
inline

Set the pose with covariance of a given object state.

Parameters
state
val

Definition at line 413 of file convenience_state_setters.h.

414{
415 setPose(state, val.pose, false);
416 setPoseCovariance(state, val.covariance);
417}

◆ setPoseWithCovariance() [2/2]

template<typename T >
void perception_msgs::object_access::setPoseWithCovariance ( T &  obj,
const gm::PoseWithCovariance &  val 
)
inline

Set the pose with covariance of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val

Definition at line 427 of file convenience_state_setters.h.

428{
429 setPoseWithCovariance(obj.state, val);
430}
perception_msgs::object_access::setPoseWithCovariance
void setPoseWithCovariance(ObjectState &state, const gm::PoseWithCovariance &val)
Set the pose with covariance of a given object state.
Definition convenience_state_setters.h:413

◆ setPosition() [1/4]

void perception_msgs::object_access::setPosition ( ObjectState &  state,
const gm::Point  val,
const bool  reset_covariance = true 
)
inline

Set the position of a given object state.

Parameters
state
val
reset_covariance

Definition at line 187 of file convenience_state_setters.h.

188{
189 setX(state, val.x, reset_covariance);
190 setY(state, val.y, reset_covariance);
191 setZ(state, val.z, reset_covariance);
192}
perception_msgs::object_access::setX
void setX(ObjectState &state, const double val, const bool reset_covariance=true)
Set the x-position for a given object state.
Definition state_setters.h:48
perception_msgs::object_access::setY
void setY(ObjectState &state, const double val, const bool reset_covariance=true)
Set the y-position for a given object state.
Definition state_setters.h:75
perception_msgs::object_access::setZ
void setZ(ObjectState &state, const double val, const bool reset_covariance=true)
Set the z-position for a given object state.
Definition state_setters.h:102

◆ setPosition() [2/4]

void perception_msgs::object_access::setPosition ( ObjectState &  state,
const std::array< double, 3 > &  val,
const bool  reset_covariance = true 
)
inline

Set the position of a given object state.

Parameters
state
val
reset_covariance

Definition at line 215 of file convenience_state_setters.h.

216{
217 setX(state, val[0], reset_covariance);
218 setY(state, val[1], reset_covariance);
219 setZ(state, val[2], reset_covariance);
220}

◆ setPosition() [3/4]

template<typename T >
void perception_msgs::object_access::setPosition ( T &  obj,
const gm::Point  val,
const bool  reset_covariance = true 
)
inline

Set the position of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 203 of file convenience_state_setters.h.

204{
205 setPosition(obj.state, val, reset_covariance);
206}

◆ setPosition() [4/4]

template<typename T >
void perception_msgs::object_access::setPosition ( T &  obj,
const std::array< double, 3 > &  val,
const bool  reset_covariance = true 
)
inline

Set the position of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 231 of file convenience_state_setters.h.

232{
233 setPosition(obj.state, val, reset_covariance);
234}

◆ setRollInDeg() [1/2]

void perception_msgs::object_access::setRollInDeg ( ObjectState &  state,
const double  val,
const bool  reset_covariance = true 
)
inline

Set the roll in degree of a given object state.

Parameters
state
val
reset_covariance

Definition at line 548 of file convenience_state_setters.h.

549{
550 setRoll(state, val * M_PI / 180.0, reset_covariance);
551}

◆ setRollInDeg() [2/2]

template<typename T >
void perception_msgs::object_access::setRollInDeg ( T &  obj,
const double  val,
const bool  reset_covariance = true 
)
inline

Set the roll in deg of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 562 of file convenience_state_setters.h.

563{
564 setRollInDeg(obj.state, val, reset_covariance);
565}
perception_msgs::object_access::setRollInDeg
void setRollInDeg(ObjectState &state, const double val, const bool reset_covariance=true)
Set the roll in degree of a given object state.
Definition convenience_state_setters.h:548

◆ setVelocity() [1/4]

void perception_msgs::object_access::setVelocity ( ObjectState &  state,
const gm::Vector3 &  val,
const bool  reset_covariance = true 
)
inline

Set the velocity of a given object state.

Parameters
state
val
reset_covariance

Definition at line 439 of file convenience_state_setters.h.

440{
441 setVelLon(state, val.x, reset_covariance);
442 setVelLat(state, val.y, reset_covariance);
443}
perception_msgs::object_access::setVelLon
void setVelLon(ObjectState &state, const double val, const bool reset_covariance=true)
Set the longitdunial velocity for a given object state.
Definition state_setters.h:129
perception_msgs::object_access::setVelLat
void setVelLat(ObjectState &state, const double val, const bool reset_covariance=true)
Set the lateral velocity for a given object state.
Definition state_setters.h:156

◆ setVelocity() [2/4]

void perception_msgs::object_access::setVelocity ( ObjectState &  state,
const std::array< double, 2 > &  val,
const bool  reset_covariance = true 
)
inline

Set the velocity of a given object state.

Parameters
state
val
reset_covariance

Definition at line 465 of file convenience_state_setters.h.

466{
467 setVelLon(state, val[0], reset_covariance);
468 setVelLat(state, val[1], reset_covariance);
469}

◆ setVelocity() [3/4]

template<typename T >
void perception_msgs::object_access::setVelocity ( T &  obj,
const gm::Vector3 &  val,
const bool  reset_covariance = true 
)
inline

Set the velocity of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 453 of file convenience_state_setters.h.

454{
455 setVelocity(obj.state, val, reset_covariance);
456}
perception_msgs::object_access::setVelocity
void setVelocity(ObjectState &state, const gm::Vector3 &val, const bool reset_covariance=true)
Set the velocity of a given object state.
Definition convenience_state_setters.h:439

◆ setVelocity() [4/4]

template<typename T >
void perception_msgs::object_access::setVelocity ( T &  obj,
const std::array< double, 2 > &  val,
const bool  reset_covariance = true 
)
inline

Set the velocity of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 480 of file convenience_state_setters.h.

481{
482 setVelocity(obj.state, val, reset_covariance);
483}

◆ setVelocityXYZYaw() [1/2]

void perception_msgs::object_access::setVelocityXYZYaw ( ObjectState &  state,
const gm::Vector3 &  vel_xyz,
const double  yaw,
const bool  reset_covariance = true 
)
inline

Set the velocity XYZ and yaw of a given object state.

Parameters
state
vel_xyz
yaw
reset_covariance

Definition at line 710 of file convenience_state_setters.h.

711{
712 gm::Vector3 vel_lon_lat, vel_xyz_in;
713 vel_xyz_in = vel_xyz;
714 tf2::Quaternion q;
715 q.setRPY(0.0, 0.0, -yaw);
716 gm::TransformStamped tf;
717 tf.transform.rotation = tf2::toMsg(q);
718 tf2::doTransform(vel_xyz_in, vel_lon_lat, tf);
719 setVelocity(state, vel_lon_lat, reset_covariance);
720 setYaw(state, yaw, reset_covariance);
721}

◆ setVelocityXYZYaw() [2/2]

template<typename T >
void perception_msgs::object_access::setVelocityXYZYaw ( T &  obj,
const gm::Vector3 &  vel_xyz,
const double  yaw,
const bool  reset_covariance = true 
)
inline

Set the velocity XYZ and yaw of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
vel_xyz
yaw
reset_covariance

Definition at line 733 of file convenience_state_setters.h.

734{
735 setVelocityXYZYaw(obj.state, vel_xyz, yaw, reset_covariance);
736}
perception_msgs::object_access::setVelocityXYZYaw
void setVelocityXYZYaw(ObjectState &state, const gm::Vector3 &vel_xyz, const double yaw, const bool reset_covariance=true)
Set the velocity XYZ and yaw of a given object state.
Definition convenience_state_setters.h:710

◆ setVelocityXYZYawWithCovariance() [1/2]

void perception_msgs::object_access::setVelocityXYZYawWithCovariance ( ObjectState &  state,
const gm::Vector3 &  vel_xyz_in,
const double  yaw,
const double  var_vel_x,
const double  var_vel_y,
const double  cov_vel_xy 
)
inline

Set the velocity XYZ and yaw with covariance of a given object state.

Parameters
state
vel_xyz_in
yaw
var_vel_x
var_vel_y
cov_vel_xy

Definition at line 629 of file convenience_state_setters.h.

632{
633 gm::PoseWithCovariance vel_lon_lat, vel_xyz;
634 vel_xyz.pose.position.x = vel_xyz_in.x;
635 vel_xyz.pose.position.y = vel_xyz_in.y;
636 vel_xyz.pose.position.z = 0.0;
637
638 vel_xyz.covariance.at(0) = var_vel_x;
639 vel_xyz.covariance.at(1) = cov_vel_xy;
640 vel_xyz.covariance.at(6) = cov_vel_xy;
641 vel_xyz.covariance.at(7) = var_vel_y;
642
643 tf2::Quaternion q;
644 q.setRPY(0.0, 0.0, -yaw);
645 gm::TransformStamped tf;
646 tf.transform.rotation = tf2::toMsg(q);
647
648#ifdef ROS1
649 gm::PoseWithCovarianceStamped vel_lon_lat_stamped, vel_xyz_stamped;
650 vel_xyz_stamped.pose = vel_xyz;
651 tf2::doTransform(vel_xyz_stamped, vel_lon_lat_stamped, tf);
652 vel_lon_lat = vel_lon_lat_stamped.pose;
653#else
654 tf2::doTransform(vel_xyz, vel_lon_lat, tf);
655#endif
656
657 setVelocity(state, {vel_lon_lat.pose.position.x, vel_lon_lat.pose.position.y}, false);
658 setYaw(state, yaw, false);
659
660 int ix, jx, n = 2;
661 auto model_id = state.model_id;
662 for (int i = 0; i < n; i++) {
663 for (int j = 0; j < n; j++) {
664 if (i == 0 && hasVelLon(model_id))
665 ix = indexVelLon(model_id);
666 else if (i == 1 && hasVelLat(model_id))
667 ix = indexVelLat(model_id);
668 else
669 continue;
670
671 if (j == 0 && hasVelLon(model_id))
672 jx = indexVelLon(model_id);
673 else if (j == 1 && hasVelLat(model_id))
674 jx = indexVelLat(model_id);
675 else
676 continue;
677
678 setContinuousStateCovarianceAt(state, ix, jx, vel_lon_lat.covariance.at(6 * i + j));
679 }
680 }
681}
perception_msgs::object_access::indexVelLon
int indexVelLon(const unsigned char &model_id)
Get the vector-index that stores the longitudinal velocity for a given model-id.
Definition state_index.h:114
perception_msgs::object_access::hasVelLat
bool hasVelLat(const unsigned char &model_id)
Indicates if given model contains a lateral velocity.
Definition state_index.h:563
perception_msgs::object_access::indexVelLat
int indexVelLat(const unsigned char &model_id)
Get the vector-index that stores the lateral velocity for a given model-id.
Definition state_index.h:135
perception_msgs::object_access::hasVelLon
bool hasVelLon(const unsigned char &model_id)
Indicates if given model contains a longitudinal velocity.
Definition state_index.h:541

◆ setVelocityXYZYawWithCovariance() [2/2]

template<typename T >
void perception_msgs::object_access::setVelocityXYZYawWithCovariance ( T &  obj,
const gm::Vector3 &  vel_xyz_in,
const double  yaw,
const double  var_vel_x,
const double  var_vel_y,
const double  cov_vel_xy 
)
inline

Set the velocity XYZ and yaw with covariance of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
vel_xyz_in
yaw
var_vel_x
var_vel_y
cov_vel_xy

Definition at line 695 of file convenience_state_setters.h.

698{
699 return setVelocityXYZYawWithCovariance(obj.state, vel_xyz_in, yaw, var_vel_x, var_vel_y, cov_vel_xy);
700}
perception_msgs::object_access::setVelocityXYZYawWithCovariance
void setVelocityXYZYawWithCovariance(ObjectState &state, const gm::Vector3 &vel_xyz_in, const double yaw, const double var_vel_x, const double var_vel_y, const double cov_vel_xy)
Set the velocity XYZ and yaw with covariance of a given object state.
Definition convenience_state_setters.h:629

◆ setYawInDeg() [1/2]

void perception_msgs::object_access::setYawInDeg ( ObjectState &  state,
const double  val,
const bool  reset_covariance = true 
)
inline

Set the yaw in degree of a given object state.

Parameters
state
val
reset_covariance

Definition at line 600 of file convenience_state_setters.h.

601{
602 setYaw(state, val * M_PI / 180.0, reset_covariance);
603}

◆ setYawInDeg() [2/2]

template<typename T >
void perception_msgs::object_access::setYawInDeg ( T &  obj,
const double  val,
const bool  reset_covariance = true 
)
inline

Set the yaw in degree of a given template object that contains an object state.

Template Parameters
T
Parameters
obj
val
reset_covariance

Definition at line 614 of file convenience_state_setters.h.

615{
616 setYawInDeg(obj.state, val, reset_covariance);
617}
perception_msgs::object_access::setYawInDeg
void setYawInDeg(ObjectState &state, const double val, const bool reset_covariance=true)
Set the yaw in degree of a given object state.
Definition convenience_state_setters.h:600
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