OccupiedLanesWithConfidence
This is a ROS message definition.
Source
# ==============================================================================
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# Copyright (c) 2023-2024 Institute for Automotive Engineering (ika), RWTH Aachen University
# Copyright (c) 2024 Instituto de Telecomunicações, Universidade de Aveiro
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# ==============================================================================
# --- Auto-generated by asn1ToRosMsg.py ----------------------------------------
# --- ASN.1 Definition ---------------------------------------------------------
# OccupiedLanesWithConfidence::= SEQUENCE {
# lanePositionBased SEQUENCE (SIZE(1..4)) OF LanePositionOptions,
# mapBased SEQUENCE (SIZE(1..4)) OF MapPosition OPTIONAL,
# confidence MetaInformation,
# ...
# }
# ------------------------------------------------------------------------------
# *
# * This DF represents a set of lanes which are partially or fully occupied by an object or event at an externally defined reference position.
# *
# * @note: In contrast to @ref GeneralizedLanePosition, the dimension of the object or event area (width and length) is taken into account to determine the occupancy,
# * i.e. this DF describes the lanes which are blocked by an object or event and not the position of the object / event itself. A confidence is used to describe the
# * probability that exactly all the provided lanes are occupied.
# *
# * It shall include the following components:
# *
# * @field lanePositionBased: a set of up to `4` lanes that are partially or fully occupied by an object or event, ordered by increasing value of @ref LanePosition.
# * Lanes that are partially occupied can be described using the component lanePositionWithLateralDetails of @ref Options, with the following constraints:
# * The distance to lane borders which are covered by the object / event shall be set to 0. Only the distances to the leftmost and/or rightmost border which are not covered by
# * the object / event shall be provided with values > 0. Those values shall be added to the respective instances of @ref LanePositionOptions, i.e. the first entry shall contain the component distanceToLeftBorder > 0 ,
# * and/or the last entry shall contain the component distanceToRightBorder > 0; the respective other components of these entries shall be set to 0.
# *
# * @field mapBased: optional lane information described in the context of a MAPEM as specified in ETSI TS 103 301 [15].
# * If present, it shall describe the same lane(s) as listed in the component lanePositionBased, but using the lane identification of the MAPEM. This component can be used only if a
# * MAPEM is available for the reference position (e.g. on an intersection): In this case it is used as a synonym to the mandatory component lanePositionBased.
# *
# * @field confidence: mandatory confidence information for expressing the probability that all the provided lanes are occupied. It also provides information on how the lane
# * information were generated. If none of the sensors were used, the lane information is assumed to be derived directly from the absolute reference position and the related dimension.
# *
# * @category: Road Topology information
# * @revision: Created in V2.2.1
#
LanePositionOptions[] lane_position_based
uint8 LANE_POSITION_BASED_MIN_SIZE = 1
uint8 LANE_POSITION_BASED_MAX_SIZE = 4
MapPosition[] map_based
bool map_based_is_present
uint8 MAP_BASED_MIN_SIZE = 1
uint8 MAP_BASED_MAX_SIZE = 4
MetaInformation confidence