convertPerceivedObject.h

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#pragma once
 
#include <etsi_its_denm_ts_coding/denm_ts_PerceivedObject.h>
#include <etsi_its_denm_ts_conversion/convertAcceleration3dWithConfidence.h>
#include <etsi_its_denm_ts_conversion/convertCartesianAngularVelocityComponent.h>
#include <etsi_its_denm_ts_conversion/convertCartesianPosition3dWithConfidence.h>
#include <etsi_its_denm_ts_conversion/convertDeltaTimeMilliSecondSigned.h>
#include <etsi_its_denm_ts_conversion/convertEulerAnglesWithConfidence.h>
#include <etsi_its_denm_ts_conversion/convertIdentifier2B.h>
#include <etsi_its_denm_ts_conversion/convertLowerTriangularPositiveSemidefiniteMatrices.h>
#include <etsi_its_denm_ts_conversion/convertMapPosition.h>
#include <etsi_its_denm_ts_conversion/convertObjectClassDescription.h>
#include <etsi_its_denm_ts_conversion/convertObjectDimension.h>
#include <etsi_its_denm_ts_conversion/convertObjectPerceptionQuality.h>
#include <etsi_its_denm_ts_conversion/convertSequenceOfIdentifier1B.h>
#include <etsi_its_denm_ts_conversion/convertVelocity3dWithConfidence.h>
#ifdef ROS1
#include <etsi_its_denm_ts_msgs/PerceivedObject.h>
namespace denm_ts_msgs = etsi_its_denm_ts_msgs;
#else
#include <etsi_its_denm_ts_msgs/msg/perceived_object.hpp>
namespace denm_ts_msgs = etsi_its_denm_ts_msgs::msg;
#endif
 
 
namespace etsi_its_denm_ts_conversion {
 
void toRos_PerceivedObject(const denm_ts_PerceivedObject_t& in, denm_ts_msgs::PerceivedObject& out) {
  if (in.objectId) {
    toRos_Identifier2B(*in.objectId, out.object_id);
    out.object_id_is_present = true;
  }
  toRos_DeltaTimeMilliSecondSigned(in.measurementDeltaTime, out.measurement_delta_time);
  toRos_CartesianPosition3dWithConfidence(in.position, out.position);
  if (in.velocity) {
    toRos_Velocity3dWithConfidence(*in.velocity, out.velocity);
    out.velocity_is_present = true;
  }
  if (in.acceleration) {
    toRos_Acceleration3dWithConfidence(*in.acceleration, out.acceleration);
    out.acceleration_is_present = true;
  }
  if (in.angles) {
    toRos_EulerAnglesWithConfidence(*in.angles, out.angles);
    out.angles_is_present = true;
  }
  if (in.zAngularVelocity) {
    toRos_CartesianAngularVelocityComponent(*in.zAngularVelocity, out.z_angular_velocity);
    out.z_angular_velocity_is_present = true;
  }
  if (in.lowerTriangularCorrelationMatrices) {
    toRos_LowerTriangularPositiveSemidefiniteMatrices(*in.lowerTriangularCorrelationMatrices, out.lower_triangular_correlation_matrices);
    out.lower_triangular_correlation_matrices_is_present = true;
  }
  if (in.objectDimensionZ) {
    toRos_ObjectDimension(*in.objectDimensionZ, out.object_dimension_z);
    out.object_dimension_z_is_present = true;
  }
  if (in.objectDimensionY) {
    toRos_ObjectDimension(*in.objectDimensionY, out.object_dimension_y);
    out.object_dimension_y_is_present = true;
  }
  if (in.objectDimensionX) {
    toRos_ObjectDimension(*in.objectDimensionX, out.object_dimension_x);
    out.object_dimension_x_is_present = true;
  }
  if (in.objectAge) {
    toRos_DeltaTimeMilliSecondSigned(*in.objectAge, out.object_age);
    out.object_age_is_present = true;
  }
  if (in.objectPerceptionQuality) {
    toRos_ObjectPerceptionQuality(*in.objectPerceptionQuality, out.object_perception_quality);
    out.object_perception_quality_is_present = true;
  }
  if (in.sensorIdList) {
    toRos_SequenceOfIdentifier1B(*in.sensorIdList, out.sensor_id_list);
    out.sensor_id_list_is_present = true;
  }
  if (in.classification) {
    toRos_ObjectClassDescription(*in.classification, out.classification);
    out.classification_is_present = true;
  }
  if (in.mapPosition) {
    toRos_MapPosition(*in.mapPosition, out.map_position);
    out.map_position_is_present = true;
  }
}
 
void toStruct_PerceivedObject(const denm_ts_msgs::PerceivedObject& in, denm_ts_PerceivedObject_t& out) {
  memset(&out, 0, sizeof(denm_ts_PerceivedObject_t));
  if (in.object_id_is_present) {
    out.objectId = (denm_ts_Identifier2B_t*) calloc(1, sizeof(denm_ts_Identifier2B_t));
    toStruct_Identifier2B(in.object_id, *out.objectId);
  }
  toStruct_DeltaTimeMilliSecondSigned(in.measurement_delta_time, out.measurementDeltaTime);
  toStruct_CartesianPosition3dWithConfidence(in.position, out.position);
  if (in.velocity_is_present) {
    out.velocity = (denm_ts_Velocity3dWithConfidence_t*) calloc(1, sizeof(denm_ts_Velocity3dWithConfidence_t));
    toStruct_Velocity3dWithConfidence(in.velocity, *out.velocity);
  }
  if (in.acceleration_is_present) {
    out.acceleration = (denm_ts_Acceleration3dWithConfidence_t*) calloc(1, sizeof(denm_ts_Acceleration3dWithConfidence_t));
    toStruct_Acceleration3dWithConfidence(in.acceleration, *out.acceleration);
  }
  if (in.angles_is_present) {
    out.angles = (denm_ts_EulerAnglesWithConfidence_t*) calloc(1, sizeof(denm_ts_EulerAnglesWithConfidence_t));
    toStruct_EulerAnglesWithConfidence(in.angles, *out.angles);
  }
  if (in.z_angular_velocity_is_present) {
    out.zAngularVelocity = (denm_ts_CartesianAngularVelocityComponent_t*) calloc(1, sizeof(denm_ts_CartesianAngularVelocityComponent_t));
    toStruct_CartesianAngularVelocityComponent(in.z_angular_velocity, *out.zAngularVelocity);
  }
  if (in.lower_triangular_correlation_matrices_is_present) {
    out.lowerTriangularCorrelationMatrices = (denm_ts_LowerTriangularPositiveSemidefiniteMatrices_t*) calloc(1, sizeof(denm_ts_LowerTriangularPositiveSemidefiniteMatrices_t));
    toStruct_LowerTriangularPositiveSemidefiniteMatrices(in.lower_triangular_correlation_matrices, *out.lowerTriangularCorrelationMatrices);
  }
  if (in.object_dimension_z_is_present) {
    out.objectDimensionZ = (denm_ts_ObjectDimension_t*) calloc(1, sizeof(denm_ts_ObjectDimension_t));
    toStruct_ObjectDimension(in.object_dimension_z, *out.objectDimensionZ);
  }
  if (in.object_dimension_y_is_present) {
    out.objectDimensionY = (denm_ts_ObjectDimension_t*) calloc(1, sizeof(denm_ts_ObjectDimension_t));
    toStruct_ObjectDimension(in.object_dimension_y, *out.objectDimensionY);
  }
  if (in.object_dimension_x_is_present) {
    out.objectDimensionX = (denm_ts_ObjectDimension_t*) calloc(1, sizeof(denm_ts_ObjectDimension_t));
    toStruct_ObjectDimension(in.object_dimension_x, *out.objectDimensionX);
  }
  if (in.object_age_is_present) {
    out.objectAge = (denm_ts_DeltaTimeMilliSecondSigned_t*) calloc(1, sizeof(denm_ts_DeltaTimeMilliSecondSigned_t));
    toStruct_DeltaTimeMilliSecondSigned(in.object_age, *out.objectAge);
  }
  if (in.object_perception_quality_is_present) {
    out.objectPerceptionQuality = (denm_ts_ObjectPerceptionQuality_t*) calloc(1, sizeof(denm_ts_ObjectPerceptionQuality_t));
    toStruct_ObjectPerceptionQuality(in.object_perception_quality, *out.objectPerceptionQuality);
  }
  if (in.sensor_id_list_is_present) {
    out.sensorIdList = (denm_ts_SequenceOfIdentifier1B_t*) calloc(1, sizeof(denm_ts_SequenceOfIdentifier1B_t));
    toStruct_SequenceOfIdentifier1B(in.sensor_id_list, *out.sensorIdList);
  }
  if (in.classification_is_present) {
    out.classification = (denm_ts_ObjectClassDescription_t*) calloc(1, sizeof(denm_ts_ObjectClassDescription_t));
    toStruct_ObjectClassDescription(in.classification, *out.classification);
  }
  if (in.map_position_is_present) {
    out.mapPosition = (denm_ts_MapPosition_t*) calloc(1, sizeof(denm_ts_MapPosition_t));
    toStruct_MapPosition(in.map_position, *out.mapPosition);
  }
}
 
}