VruHighFrequencyContainer
This is a ROS message definition.
Source
# ==============================================================================
# MIT License
#
# Copyright (c) 2023-2024 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.
# ==============================================================================
# --- Auto-generated by https://github.com/ika-rwth-aachen/etsi_its_messages ---
# python3
# utils/codegen/codegen-py/asn1ToRosMsg.py
# asn1/raw/vam-ts103300_3/VAM-PDU-Descriptions.asn
# asn1/patched/vam-ts103300_3/cdd/ETSI-ITS-CDD.asn
# -t
# vam_ts
# -o
# etsi_its_msgs/etsi_its_vam_ts_msgs/msg
# ------------------------------------------------------------------------------
# --- ASN.1 Definition ---------------------------------------------------------
# /**
# * @details VruHighFrequencyContainer
# * The VRU HF container of the VAM contains potentially fast-changing status information of the VRU ITS-S.
# * It includes the following components (setting indications are specified in clause 7.3.3 of TS 103 300-3):
# *
# * @field heading: heading and heading confidence of the originating VRU with regards to the true north.
# * @field speed: speed in moving direction and speed confidence of the originating VRU.
# * @field longitudinalAcceleration: longitudinal acceleration of the originating VRU.
# * @field curvature: related to the actual trajectory of the originating VRU vehicle.
# _(recommended for VRU Profile 2)_
# * @field curvatureCalculationMode: indicates whether vehicle yaw-rate is used in the calculation of
# * the curvature of the VRU vehicle ITS-S that originates the VAM. _(recommended for VRU Profile 2)_
# * @field yawRate: yaw rate of originating VRU vehicle. _(recommended for VRU Profile 2)_
# * @field lateralAcceleration: originating VRU lateral acceleration in the street plane.
# * This field shall be present if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
# * @field verticalAcceleration: vertical acceleration of the originating VRU.
# * This field shall be present if the data is available at the originating ITS-S.
# * @field vruLanePosition: lane position of the referencePosition of a VRU, which is either a VRU-specific non-traffic lane
# * or a standard traffic lane. This field shall be present if the data is available at the originating ITS-S.
# * @field environment: provides contextual awareness of the VRU among other road users.
# * This field shall be present only if the data is available at the originating ITS-S.
# * @field movementControl: indicates the mechanism used by the VRU to control the longitudinal movement of the VRU vehicle.
# * This field shall be present only if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
# * @field orientation : complements the dimensions of the VRU vehicle by defining the angle of the VRU vehicle longitudinal
# * axis with regards to the WGS84 north. _(recommended for VRU Profile 2)_
# * @field rollAngle: provides the angle and angle accuracy between the ground plane and the current orientation of a vehicle's
# * y-axis with respect to the ground plane about the x-axis according to the ISO 8855.
# * This field shall be present only if the data is available at the originating ITS-S. _(recommended for VRU Profile 2)_
# * @field deviceUsage: provides indications from the personal device about the potential
# * activity of the VRU. This field shall be present only if the data is available at the originating ITS-S.
# * _(recommended for VRU Profile 1)_
# *
# * @category: VRU information
# * @revision: V2.2.1
# */
# VruHighFrequencyContainer ::= SEQUENCE {
# heading Wgs84Angle,
# speed Speed,
# longitudinalAcceleration LongitudinalAcceleration,
# curvature Curvature OPTIONAL,
# curvatureCalculationMode CurvatureCalculationMode OPTIONAL,
# yawRate YawRate OPTIONAL,
# lateralAcceleration LateralAcceleration OPTIONAL,
# verticalAcceleration VerticalAcceleration OPTIONAL,
# vruLanePosition GeneralizedLanePosition OPTIONAL,
# environment VruEnvironment OPTIONAL,
# movementControl VruMovementControl OPTIONAL,
# orientation Wgs84Angle OPTIONAL,
# rollAngle CartesianAngle OPTIONAL,
# deviceUsage VruDeviceUsage OPTIONAL,
# ...
# }
# ------------------------------------------------------------------------------
Wgs84Angle heading
Speed speed
LongitudinalAcceleration longitudinal_acceleration
Curvature curvature
bool curvature_is_present
CurvatureCalculationMode curvature_calculation_mode
bool curvature_calculation_mode_is_present
YawRate yaw_rate
bool yaw_rate_is_present
LateralAcceleration lateral_acceleration
bool lateral_acceleration_is_present
VerticalAcceleration vertical_acceleration
bool vertical_acceleration_is_present
GeneralizedLanePosition vru_lane_position
bool vru_lane_position_is_present
VruEnvironment environment
bool environment_is_present
VruMovementControl movement_control
bool movement_control_is_present
Wgs84Angle orientation
bool orientation_is_present
CartesianAngle roll_angle
bool roll_angle_is_present
VruDeviceUsage device_usage
bool device_usage_is_present