PerceivedObject
This is a ROS message definition.
Source
# ==============================================================================
# MIT License
#
# Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
#
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# ==============================================================================
# --- Auto-generated by https://github.com/ika-rwth-aachen/etsi_its_messages ---
# python3
# utils/codegen/codegen-py/asn1ToRosMsg.py
# asn1/raw/cpm_ts103324/asn/CPM-PDU-Descriptions.asn
# asn1/raw/cpm_ts103324/asn/CPM-OriginatingStationContainers.asn
# asn1/raw/cpm_ts103324/asn/CPM-PerceivedObjectContainer.asn
# asn1/raw/cpm_ts103324/asn/CPM-PerceptionRegionContainer.asn
# asn1/raw/cpm_ts103324/asn/CPM-SensorInformationContainer.asn
# asn1/patched/cpm_ts103324/asn/cdd/ETSI-ITS-CDD.asn
# -t
# cpm_ts
# -o
# etsi_its_msgs/etsi_its_cpm_ts_msgs/msg
# ------------------------------------------------------------------------------
# --- ASN.1 Definition ---------------------------------------------------------
# /**
# * This DF contains information about a perceived object including its kinematic state and attitude vector in a pre-defined coordinate system and with respect to a reference time.
# *
# * It shall include the following components:
# *
# * @field objectId: optional identifier assigned to a detected object.
# *
# * @field measurementDeltaTime: the time difference from a reference time to the time of the measurement of the object.
# * Negative values indicate that the provided object state refers to a point in time before the reference time.
# *
# * @field position: the position of the geometric centre of the object's bounding box within the pre-defined coordinate system.
# *
# * @field velocity: the velocity vector of the object within the pre-defined coordinate system.
# *
# * @field acceleration: the acceleration vector of the object within the pre-defined coordinate system.
# *
# * @field angles: optional Euler angles of the object bounding box at the time of measurement.
# *
# * @field zAngularVelocity: optional angular velocity of the object around the z-axis at the time of measurement.
# * The angular velocity is measured with positive values considering the object orientation turning around the z-axis using the right-hand rule.
# *
# * @field lowerTriangularCorrelationMatrices: optional set of lower triangular correlation matrices for selected components of the provided kinematic state and attitude vector.
# *
# * @field objectDimensionZ: optional z-dimension of object bounding box.
# * This dimension shall be measured along the direction of the z-axis after all the rotations have been applied.
# *
# * @field objectDimensionY: optional y-dimension of the object bounding box.
# * This dimension shall be measured along the direction of the y-axis after all the rotations have been applied.
# *
# * @field objectDimensionX: optional x-dimension of object bounding box.
# * This dimension shall be measured along the direction of the x-axis after all the rotations have been applied.
# *
# * @field objectAge: optional age of the detected and described object, i.e. the difference in time between the moment
# * it has been first detected and the reference time of the message. Value `1500` indicates that the object has been observed for more than 1.5s.
# *
# * @field objectPerceptionQuality: optional confidence associated to the object.
# *
# * @field sensorIdList: optional list of sensor-IDs which provided the measurement data.
# *
# * @field classification: optional classification of the described object
# *
# * @field matchedPosition: optional map-matched position of an object.
# *
# * @category Sensing information
# * @revision: created in V2.1.1
# */
# PerceivedObject ::= SEQUENCE {
# objectId Identifier2B OPTIONAL,
# measurementDeltaTime DeltaTimeMilliSecondSigned,
# position CartesianPosition3dWithConfidence,
# velocity Velocity3dWithConfidence OPTIONAL,
# acceleration Acceleration3dWithConfidence OPTIONAL,
# angles EulerAnglesWithConfidence OPTIONAL,
# zAngularVelocity CartesianAngularVelocityComponent OPTIONAL,
# lowerTriangularCorrelationMatrices LowerTriangularPositiveSemidefiniteMatrices OPTIONAL,
# objectDimensionZ ObjectDimension OPTIONAL,
# objectDimensionY ObjectDimension OPTIONAL,
# objectDimensionX ObjectDimension OPTIONAL,
# objectAge DeltaTimeMilliSecondSigned (0..2047) OPTIONAL,
# objectPerceptionQuality ObjectPerceptionQuality OPTIONAL,
# sensorIdList SequenceOfIdentifier1B OPTIONAL,
# classification ObjectClassDescription OPTIONAL,
# mapPosition MapPosition OPTIONAL,
# ...
# }
# ------------------------------------------------------------------------------
Identifier2B object_id
bool object_id_is_present
DeltaTimeMilliSecondSigned measurement_delta_time
CartesianPosition3dWithConfidence position
Velocity3dWithConfidence velocity
bool velocity_is_present
Acceleration3dWithConfidence acceleration
bool acceleration_is_present
EulerAnglesWithConfidence angles
bool angles_is_present
CartesianAngularVelocityComponent z_angular_velocity
bool z_angular_velocity_is_present
LowerTriangularPositiveSemidefiniteMatrices lower_triangular_correlation_matrices
bool lower_triangular_correlation_matrices_is_present
ObjectDimension object_dimension_z
bool object_dimension_z_is_present
ObjectDimension object_dimension_y
bool object_dimension_y_is_present
ObjectDimension object_dimension_x
bool object_dimension_x_is_present
DeltaTimeMilliSecondSigned object_age
bool object_age_is_present
uint16 OBJECT_AGE_MIN = 0
uint16 OBJECT_AGE_MAX = 2047
ObjectPerceptionQuality object_perception_quality
bool object_perception_quality_is_present
SequenceOfIdentifier1B sensor_id_list
bool sensor_id_list_is_present
ObjectClassDescription classification
bool classification_is_present
MapPosition map_position
bool map_position_is_present