state_getters.h File Reference

Getter functions for objects state members. More...

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

Go to the source code of this file.

Functions
double	perception_msgs::object_access::getX (const ObjectState &state)
	Get the x-position for a given object state.
template<typename T >
double	perception_msgs::object_access::getX (const T &obj)
	Get the x-position for a given template object that contains an object state.
double	perception_msgs::object_access::getY (const ObjectState &state)
	Get the y-position for a given object state.
template<typename T >
double	perception_msgs::object_access::getY (const T &obj)
	Get the y-position for a given template object that contains an object state.
double	perception_msgs::object_access::getZ (const ObjectState &state)
	Get the z-position for a given object state.
template<typename T >
double	perception_msgs::object_access::getZ (const T &obj)
	Get the z-position for a given template object that contains an object state.
double	perception_msgs::object_access::getVelLon (const ObjectState &state)
	Get the longitudinal velocity for a given object state.
template<typename T >
double	perception_msgs::object_access::getVelLon (const T &obj)
	Get the longitudinal velocity for a given template object that contains an object state.
double	perception_msgs::object_access::getVelLat (const ObjectState &state)
	Get the longitudinal velocity for a given object state.
template<typename T >
double	perception_msgs::object_access::getVelLat (const T &obj)
	Get the longitudinal velocity for a given template object that contains an object state.
double	perception_msgs::object_access::getAccLon (const ObjectState &state)
	Get the longitudinal acceleration for a given object state.
template<typename T >
double	perception_msgs::object_access::getAccLon (const T &obj)
	Get the longitudinal acceleration for a given template object that contains an object state.
double	perception_msgs::object_access::getAccLat (const ObjectState &state)
	Get the lateral acceleration for a given object state.
template<typename T >
double	perception_msgs::object_access::getAccLat (const T &obj)
	Get the lateral acceleration for a given template object that contains an object state.
double	perception_msgs::object_access::getRoll (const ObjectState &state)
	Get the roll for a given object state.
template<typename T >
double	perception_msgs::object_access::getRoll (const T &obj)
	Get the roll for a given template object that contains an object state.
double	perception_msgs::object_access::getRollRate (const ObjectState &state)
	Get the roll-rate for a given object state.
template<typename T >
double	perception_msgs::object_access::getRollRate (const T &obj)
	Get the roll-rate for a given template object that contains an object state.
double	perception_msgs::object_access::getPitch (const ObjectState &state)
	Get the pitch for a given object state.
template<typename T >
double	perception_msgs::object_access::getPitch (const T &obj)
	Get the pitch for a given template object that contains an object state.
double	perception_msgs::object_access::getPitchRate (const ObjectState &state)
	Get the pitch-rate for a given object state.
template<typename T >
double	perception_msgs::object_access::getPitchRate (const T &obj)
	Get the pitch-rate for a given template object that contains an object state.
double	perception_msgs::object_access::getYaw (const ObjectState &state)
	Get the yaw for a given object state.
template<typename T >
double	perception_msgs::object_access::getYaw (const T &obj)
	Get the yaw for a given template object that contains an object state.
double	perception_msgs::object_access::getYawRate (const ObjectState &state)
	Get the yaw-rate for a given object state.
template<typename T >
double	perception_msgs::object_access::getYawRate (const T &obj)
	Get the yaw-rate for a given template object that contains an object state.
double	perception_msgs::object_access::getSteeringAngleAck (const ObjectState &state)
	Get the ackermann steering angle for a given object state.
template<typename T >
double	perception_msgs::object_access::getSteeringAngleAck (const T &obj)
	Get the ackermann steering angle for a given template object that contains an object state.
double	perception_msgs::object_access::getSteeringAngleRateAck (const ObjectState &state)
	Get the steering angle rate for a given object state.
template<typename T >
double	perception_msgs::object_access::getSteeringAngleRateAck (const T &obj)
	Get the steering angle rate for a given template object that contains an object state.
double	perception_msgs::object_access::getSteeringAngleFront (const ObjectState &state)
	Get the front wheel angle for a given object state.
template<typename T >
double	perception_msgs::object_access::getSteeringAngleFront (const T &obj)
	Get the front wheel angle for a given template object that contains an object state.
double	perception_msgs::object_access::getSteeringAngleRear (const ObjectState &state)
	Get the rear wheel angle for a given object state.
template<typename T >
double	perception_msgs::object_access::getSteeringAngleRear (const T &obj)
	Get the rear wheel angle for a given template object that contains an object state.
double	perception_msgs::object_access::getWidth (const ObjectState &state)
	Get the width for a given object state.
template<typename T >
double	perception_msgs::object_access::getWidth (const T &obj)
	Get the width for a given template object that contains an object state.
double	perception_msgs::object_access::getLength (const ObjectState &state)
	Get the length for a given object state.
template<typename T >
double	perception_msgs::object_access::getLength (const T &obj)
	Get the length for a given template object that contains an object state.
double	perception_msgs::object_access::getHeight (const ObjectState &state)
	Get the height for a given object state.
template<typename T >
double	perception_msgs::object_access::getHeight (const T &obj)
	Get the height for a given template object that contains an object state.
bool	perception_msgs::object_access::getStandstill (const ObjectState &state)
	Get standstill indication for a given object state.
template<typename T >
bool	perception_msgs::object_access::getStandstill (const T &obj)
	Get the standstill indication for a given template object that contains an object state.
uint8_t	perception_msgs::object_access::getTrafficLightState (const ObjectState &state)
	Get the traffic light state for a given object state.
template<typename T >
uint8_t	perception_msgs::object_access::getTrafficLightState (const T &obj)
	Get the traffic light state for a given template object that contains an object state.
uint8_t	perception_msgs::object_access::getTrafficLightType (const ObjectState &state)
	Get the traffic light type for a given object state.
template<typename T >
uint8_t	perception_msgs::object_access::getTrafficLightType (const T &obj)
	Get the traffic light type for a given template object that contains an object state.

Detailed Description

Getter 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 state_getters.h.

Function Documentation

getAccLat() [1/2]

double perception_msgs::object_access::getAccLat ( const ObjectState &  state )

inline

Get the lateral acceleration for a given object state.

Parameters

state

Returns

double

Definition at line 184 of file state_getters.h.

                                                    {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexAccLat(state.model_id)];
  }

getAccLat() [2/2]

template<typename T >

double perception_msgs::object_access::getAccLat ( const T &  obj )

inline

Get the lateral acceleration for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 197 of file state_getters.h.

                                        {
    return getAccLat(obj.state);
  }

getAccLon() [1/2]

double perception_msgs::object_access::getAccLon ( const ObjectState &  state )

inline

Get the longitudinal acceleration for a given object state.

Parameters

state

Returns

double

Definition at line 161 of file state_getters.h.

                                                    {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexAccLon(state.model_id)];
  }

getAccLon() [2/2]

template<typename T >

double perception_msgs::object_access::getAccLon ( const T &  obj )

inline

Get the longitudinal acceleration for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 174 of file state_getters.h.

                                        {
    return getAccLon(obj.state);
  }

getHeight() [1/2]

double perception_msgs::object_access::getHeight ( const ObjectState &  state )

inline

Get the height for a given object state.

Parameters

state

Returns

double

Definition at line 483 of file state_getters.h.

                                                    {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexHeight(state.model_id)];
  }

getHeight() [2/2]

template<typename T >

double perception_msgs::object_access::getHeight ( const T &  obj )

inline

Get the height for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 496 of file state_getters.h.

                                        {
    return getHeight(obj.state);
  }

getLength() [1/2]

double perception_msgs::object_access::getLength ( const ObjectState &  state )

inline

Get the length for a given object state.

Parameters

state

Returns

double

Definition at line 460 of file state_getters.h.

                                                    {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexLength(state.model_id)];
  }

getLength() [2/2]

template<typename T >

double perception_msgs::object_access::getLength ( const T &  obj )

inline

Get the length for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 473 of file state_getters.h.

                                        {
    return getLength(obj.state);
  }

getPitch() [1/2]

double perception_msgs::object_access::getPitch ( const ObjectState &  state )

inline

Get the pitch for a given object state.

Parameters

state

Returns

double

Definition at line 253 of file state_getters.h.

                                                   {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexPitch(state.model_id)];
  }

getPitch() [2/2]

template<typename T >

double perception_msgs::object_access::getPitch ( const T &  obj )

inline

Get the pitch for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 266 of file state_getters.h.

                                       {
    return getPitch(obj.state);
  }

getPitchRate() [1/2]

double perception_msgs::object_access::getPitchRate ( const ObjectState &  state )

inline

Get the pitch-rate for a given object state.

Parameters

state

Returns

double

Definition at line 276 of file state_getters.h.

                                                       {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexPitchRate(state.model_id)];
  }

getPitchRate() [2/2]

template<typename T >

double perception_msgs::object_access::getPitchRate ( const T &  obj )

inline

Get the pitch-rate for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 289 of file state_getters.h.

                                           {
    return getPitchRate(obj.state);
  }

getRoll() [1/2]

double perception_msgs::object_access::getRoll ( const ObjectState &  state )

inline

Get the roll for a given object state.

Parameters

state

Returns

double

Definition at line 207 of file state_getters.h.

                                                  {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexRoll(state.model_id)];
  }

getRoll() [2/2]

template<typename T >

double perception_msgs::object_access::getRoll ( const T &  obj )

inline

Get the roll for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 220 of file state_getters.h.

                                      {
    return getRoll(obj.state);
  }

getRollRate() [1/2]

double perception_msgs::object_access::getRollRate ( const ObjectState &  state )

inline

Get the roll-rate for a given object state.

Parameters

state

Returns

double

Definition at line 230 of file state_getters.h.

                                                      {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexRollRate(state.model_id)];
  }

getRollRate() [2/2]

template<typename T >

double perception_msgs::object_access::getRollRate ( const T &  obj )

inline

Get the roll-rate for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 243 of file state_getters.h.

                                          {
    return getRollRate(obj.state);
  }

getStandstill() [1/2]

bool perception_msgs::object_access::getStandstill ( const ObjectState &  state )

inline

Get standstill indication for a given object state.

Parameters

state

Returns

true

false

Definition at line 507 of file state_getters.h.

                                                      {
    sanityCheckDiscreteState(state);
    return state.discrete_state[indexStandstill(state.model_id)];
  }

getStandstill() [2/2]

template<typename T >

bool perception_msgs::object_access::getStandstill ( const T &  obj )

inline

Get the standstill indication for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

true

false

Definition at line 521 of file state_getters.h.

                                          {
    return getStandstill(obj.state);
  }

getSteeringAngleAck() [1/2]

double perception_msgs::object_access::getSteeringAngleAck ( const ObjectState &  state )

inline

Get the ackermann steering angle for a given object state.

Parameters

state

Returns

double

Definition at line 345 of file state_getters.h.

                                                              {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexSteeringAngleAck(state.model_id)];
  }

getSteeringAngleAck() [2/2]

template<typename T >

double perception_msgs::object_access::getSteeringAngleAck ( const T &  obj )

inline

Get the ackermann steering angle for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 358 of file state_getters.h.

                                                  {
    return getSteeringAngleAck(obj.state);
  }

getSteeringAngleFront() [1/2]

double perception_msgs::object_access::getSteeringAngleFront ( const ObjectState &  state )

inline

Get the front wheel angle for a given object state.

Parameters

state

Returns

double

Definition at line 391 of file state_getters.h.

                                                                {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexSteeringAngleFront(state.model_id)];
  }

getSteeringAngleFront() [2/2]

template<typename T >

double perception_msgs::object_access::getSteeringAngleFront ( const T &  obj )

inline

Get the front wheel angle for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 404 of file state_getters.h.

                                                    {
    return getSteeringAngleFront(obj.state);
  }

getSteeringAngleRateAck() [1/2]

double perception_msgs::object_access::getSteeringAngleRateAck ( const ObjectState &  state )

inline

Get the steering angle rate for a given object state.

Parameters

state

Returns

double

Definition at line 368 of file state_getters.h.

                                                                  {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexSteeringAngleRateAck(state.model_id)];
  }

getSteeringAngleRateAck() [2/2]

template<typename T >

double perception_msgs::object_access::getSteeringAngleRateAck ( const T &  obj )

inline

Get the steering angle rate for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 381 of file state_getters.h.

                                                      {
    return getSteeringAngleRateAck(obj.state);
  }

getSteeringAngleRear() [1/2]

double perception_msgs::object_access::getSteeringAngleRear ( const ObjectState &  state )

inline

Get the rear wheel angle for a given object state.

Parameters

state

Returns

double

Definition at line 414 of file state_getters.h.

                                                               {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexSteeringAngleRear(state.model_id)];
  }

getSteeringAngleRear() [2/2]

template<typename T >

double perception_msgs::object_access::getSteeringAngleRear ( const T &  obj )

inline

Get the rear wheel angle for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 427 of file state_getters.h.

                                                   {
    return getSteeringAngleRear(obj.state);
  }

getTrafficLightState() [1/2]

uint8_t perception_msgs::object_access::getTrafficLightState ( const ObjectState &  state )

inline

Get the traffic light state for a given object state.

Parameters

state

Returns

uint8_t

Definition at line 532 of file state_getters.h.

                                                                {
    sanityCheckDiscreteState(state);
    return state.discrete_state[indexTrafficLightState(state.model_id)];
  }

getTrafficLightState() [2/2]

template<typename T >

uint8_t perception_msgs::object_access::getTrafficLightState ( const T &  obj )

inline

Get the traffic light state for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

uint8_t

Definition at line 547 of file state_getters.h.

                                                    {
    return getTrafficLightState(obj.state);
  }

getTrafficLightType() [1/2]

uint8_t perception_msgs::object_access::getTrafficLightType ( const ObjectState &  state )

inline

Get the traffic light type for a given object state.

Parameters

state

Returns

uint8_t

Definition at line 558 of file state_getters.h.

                                                               {
    sanityCheckDiscreteState(state);
    return state.discrete_state[indexTrafficLightType(state.model_id)];
  }

getTrafficLightType() [2/2]

template<typename T >

uint8_t perception_msgs::object_access::getTrafficLightType ( const T &  obj )

inline

Get the traffic light type for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

uint8_t

Definition at line 573 of file state_getters.h.

                                                   {
    return getTrafficLightType(obj.state);
  }

getVelLat() [1/2]

double perception_msgs::object_access::getVelLat ( const ObjectState &  state )

inline

Get the longitudinal velocity for a given object state.

Parameters

state

Returns

double

Definition at line 138 of file state_getters.h.

                                                    {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexVelLat(state.model_id)];
  }

getVelLat() [2/2]

template<typename T >

double perception_msgs::object_access::getVelLat ( const T &  obj )

inline

Get the longitudinal velocity for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 151 of file state_getters.h.

                                        {
    return getVelLat(obj.state);
  }

getVelLon() [1/2]

double perception_msgs::object_access::getVelLon ( const ObjectState &  state )

inline

Get the longitudinal velocity for a given object state.

Parameters

state

Returns

double

Definition at line 115 of file state_getters.h.

                                                    {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexVelLon(state.model_id)];
  }

getVelLon() [2/2]

template<typename T >

double perception_msgs::object_access::getVelLon ( const T &  obj )

inline

Get the longitudinal velocity for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 128 of file state_getters.h.

                                        {
    return getVelLon(obj.state);
  }

getWidth() [1/2]

double perception_msgs::object_access::getWidth ( const ObjectState &  state )

inline

Get the width for a given object state.

Parameters

state

Returns

double

Definition at line 437 of file state_getters.h.

                                                   {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexWidth(state.model_id)];
  }

getWidth() [2/2]

template<typename T >

double perception_msgs::object_access::getWidth ( const T &  obj )

inline

Get the width for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 450 of file state_getters.h.

                                       {
    return getWidth(obj.state);
  }

getX() [1/2]

double perception_msgs::object_access::getX ( const ObjectState &  state )

inline

Get the x-position for a given object state.

Parameters

state

Returns

double

Definition at line 45 of file state_getters.h.

                                               {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexX(state.model_id)];
  }

getX() [2/2]

template<typename T >

double perception_msgs::object_access::getX ( const T &  obj )

inline

Get the x-position for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 59 of file state_getters.h.

                                   {
    return getX(obj.state);
  }

getY() [1/2]

double perception_msgs::object_access::getY ( const ObjectState &  state )

inline

Get the y-position for a given object state.

Parameters

state

Returns

double

Definition at line 69 of file state_getters.h.

                                               {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexY(state.model_id)];
  }

getY() [2/2]

template<typename T >

double perception_msgs::object_access::getY ( const T &  obj )

inline

Get the y-position for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 82 of file state_getters.h.

                                   {
    return getY(obj.state);
  }

getYaw() [1/2]

double perception_msgs::object_access::getYaw ( const ObjectState &  state )

inline

Get the yaw for a given object state.

Parameters

state

Returns

double

Definition at line 299 of file state_getters.h.

                                                 {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexYaw(state.model_id)];
  }

getYaw() [2/2]

template<typename T >

double perception_msgs::object_access::getYaw ( const T &  obj )

inline

Get the yaw for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 312 of file state_getters.h.

                                     {
    return getYaw(obj.state);
  }

getYawRate() [1/2]

double perception_msgs::object_access::getYawRate ( const ObjectState &  state )

inline

Get the yaw-rate for a given object state.

Parameters

state

Returns

double

Definition at line 322 of file state_getters.h.

                                                     {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexYawRate(state.model_id)];
  }

getYawRate() [2/2]

template<typename T >

double perception_msgs::object_access::getYawRate ( const T &  obj )

inline

Get the yaw-rate for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 335 of file state_getters.h.

                                         {
    return getYawRate(obj.state);
  }

getZ() [1/2]

double perception_msgs::object_access::getZ ( const ObjectState &  state )

inline

Get the z-position for a given object state.

Parameters

state

Returns

double

Definition at line 92 of file state_getters.h.

                                               {
    sanityCheckContinuousState(state);
    return state.continuous_state[indexZ(state.model_id)];
  }

getZ() [2/2]

template<typename T >

double perception_msgs::object_access::getZ ( const T &  obj )

inline

Get the z-position for a given template object that contains an object state.

Template Parameters

T

Parameters

obj

Returns

double

Definition at line 105 of file state_getters.h.

                                   {
    return getZ(obj.state);
  }