Common setter functions for the ETSI ITS CAM (EN and TS) More...

#include <etsi_its_msgs_utils/impl/checks.h>
#include <etsi_its_msgs_utils/impl/constants.h>
#include <etsi_its_msgs_utils/impl/asn1_primitives/asn1_primitives_setters.h>

Include dependency graph for cam_setters_common.h:

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Functions
void	setAccelerationControl (AccelerationControl &acceleration_control, const std::vector< bool > &bits)
	Set the Acceleration Control by a vector of bools. More...

void	setDrivingLaneStatus (DrivingLaneStatus &driving_lane_status, const std::vector< bool > &bits)
	Set the Driving Lane Status by a vector of bools. More...

void	setEmergencyPriority (EmergencyPriority &emergency_priority, const std::vector< bool > &bits)
	Set the Emergency Priority by a vector of bools. More...

void	setExteriorLights (CAM &cam, const std::vector< bool > &exterior_lights)
	Set the Exterior Lights by using a vector of bools. More...

void	setExteriorLights (ExteriorLights &exterior_lights, const std::vector< bool > &bits)
	Set the Exterior Lights by a vector of bools. More...

void	setFromUTMPosition (CAM &cam, const gm::PointStamped &utm_position, const int &zone, const bool &northp)
	Set the ReferencePosition of a CAM from a given UTM-Position. More...

void	setGenerationDeltaTime (CAM &cam, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
	Set the Generation Delta Time object. More...

void	setGenerationDeltaTime (GenerationDeltaTime &generation_delta_time, const uint64_t unix_nanosecs, const uint16_t n_leap_seconds=etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin() ->second)
	Set the GenerationDeltaTime-Value. More...

void	setHeading (CAM &cam, const double heading_val, const double confidence=std::numeric_limits< double >::infinity())
	Set the Heading for a CAM. More...

void	setLateralAcceleration (CAM &cam, const double lat_accel, const double confidence=std::numeric_limits< double >::infinity())
	Set the lateral acceleration. More...

void	setLightBarSirenInUse (LightBarSirenInUse &light_bar_siren_in_use, const std::vector< bool > &bits)
	Set the Lightbar Siren In Use by a vector of bools. More...

void	setLongitudinalAcceleration (CAM &cam, const double lon_accel, const double confidence=std::numeric_limits< double >::infinity())
	Set the longitudinal acceleration. More...

void	setReferencePosition (CAM &cam, const double latitude, const double longitude, const double altitude=AltitudeValue::UNAVAILABLE)
	Set the ReferencePosition for a CAM. More...

void	setSpecialTransportType (SpecialTransportType &special_transport_type, const std::vector< bool > &bits)
	Set the Special Transport Type by a vector of bools. More...

void	setSpeed (CAM &cam, const double speed_val, const double confidence=SpeedConfidence::UNAVAILABLE)
	Set the vehicle speed. More...

void	setStationType (CAM &cam, const uint8_t value)
	Set the StationType for a CAM. More...

void	setVehicleDimensions (CAM &cam, const double vehicle_length, const double vehicle_width)
	Set the vehicle dimensions. More...

void	setVehicleLength (VehicleLength &vehicle_length, const double value)
	Set the VehicleLength object. More...

void	setVehicleLengthValue (VehicleLengthValue &vehicle_length, const double value)
	Set the VehicleLengthValue object. More...

void	setVehicleWidth (VehicleWidth &vehicle_width, const double value)
	Set the VehicleWidth object. More...

Detailed Description

Common setter functions for the ETSI ITS CAM (EN and TS)

Definition in file cam_setters_common.h.

Function Documentation

◆ setAccelerationControl()

void setAccelerationControl	(	AccelerationControl &	acceleration_control,
		const std::vector< bool > &	bits
	)

inline

Set the Acceleration Control by a vector of bools.

Parameters

acceleration_control
bits

Definition at line 259 of file cam_setters_common.h.

◆ setDrivingLaneStatus()

void setDrivingLaneStatus	(	DrivingLaneStatus &	driving_lane_status,
		const std::vector< bool > &	bits
	)

inline

Set the Driving Lane Status by a vector of bools.

Parameters

driving_lane_status
bits

Definition at line 269 of file cam_setters_common.h.

◆ setEmergencyPriority()

void setEmergencyPriority	(	EmergencyPriority &	emergency_priority,
		const std::vector< bool > &	bits
	)

inline

Set the Emergency Priority by a vector of bools.

Parameters

emergency_priority
bits

Definition at line 299 of file cam_setters_common.h.

◆ setExteriorLights() [1/2]

void setExteriorLights	(	CAM &	cam,
		const std::vector< bool > &	exterior_lights
	)

inline

Set the Exterior Lights by using a vector of bools.

Parameters

cam	CAM to set the exterior lights
exterior_lights	vector of bools to set the exterior lights

Definition at line 234 of file cam_setters_common.h.

◆ setExteriorLights() [2/2]

void setExteriorLights	(	ExteriorLights &	exterior_lights,
		const std::vector< bool > &	bits
	)

inline

Set the Exterior Lights by a vector of bools.

Parameters

exterior_lights
bits

Definition at line 224 of file cam_setters_common.h.

◆ setFromUTMPosition()

void setFromUTMPosition	(	CAM &	cam,
		const gm::PointStamped &	utm_position,
		const int &	zone,
		const bool &	northp
	)

inline

Set the ReferencePosition of a CAM from a given UTM-Position.

The position is transformed to latitude and longitude by using GeographicLib::UTMUPS The z-Coordinate is directly used as altitude value The frame_id of the given utm_position must be set to 'utm_<zone><N/S>'

Parameters

[out]	cam	CAM for which to set the ReferencePosition
[in]	utm_position	geometry_msgs::PointStamped describing the given utm position
[in]	zone	the UTM zone (zero means UPS) of the given position
[in]	northp	hemisphere (true means north, false means south)

Definition at line 214 of file cam_setters_common.h.

◆ setGenerationDeltaTime() [1/2]

void setGenerationDeltaTime	(	CAM &	cam,
		const uint64_t	unix_nanosecs,
		const uint16_t	n_leap_seconds = `etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second`
	)

inline

Set the Generation Delta Time object.

Parameters

cam	CAM to set the GenerationDeltaTime-Value for
unix_nanosecs	Timestamp in unix-nanoseconds to set the GenerationDeltaTime-Value from
n_leap_seconds	Number of leap seconds since 2004 for the given timestamp (Defaults to the todays number of leap seconds since 2004.)

Definition at line 63 of file cam_setters_common.h.

◆ setGenerationDeltaTime() [2/2]

void setGenerationDeltaTime	(	GenerationDeltaTime &	generation_delta_time,
		const uint64_t	unix_nanosecs,
		const uint16_t	n_leap_seconds = `etsi_its_msgs::LEAP_SECOND_INSERTIONS_SINCE_2004.rbegin()->second`
	)

inline

Set the GenerationDeltaTime-Value.

Parameters

generation_delta_time	GenerationDeltaTime to set the GenerationDeltaTime-Value for
unix_nanosecs	Timestamp in unix-nanoseconds to set the GenerationDeltaTime-Value from
n_leap_seconds	Number of leap seconds since 2004 for the given timestamp (Defaults to the todays number of leap seconds since 2004.)

Definition at line 46 of file cam_setters_common.h.

◆ setHeading()

void setHeading	(	CAM &	cam,
		const double	heading_val,
		const double	confidence = `std::numeric_limits<double>::infinity()`
	)

inline

Set the Heading for a CAM.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West HeadingConfidence is set to UNAVAILABLE

Parameters

cam	CAM to set the ReferencePosition
value	Heading value in degree as decimal number
confidence	standard deviation of heading in degree as decimal number (default: infinity, mapping to HeadingConfidence::UNAVAILABLE)

Definition at line 89 of file cam_setters_common.h.

◆ setLateralAcceleration()

void setLateralAcceleration	(	CAM &	cam,
		const double	lat_accel,
		const double	confidence = `std::numeric_limits<double>::infinity()`
	)

inline

Set the lateral acceleration.

Parameters

cam	CAM to set the acceleration value s
lat_accel	lateral acceleration to set in m/s^2 as decimal number (left is positiv), if not available use 16.1 m/s^2
confidence	standard deviation of the lateral acceleration in m/s^2 as decimal number Default is infinity, mapping to AccelerationConfidence::UNAVAILABLE

Definition at line 178 of file cam_setters_common.h.

◆ setLightBarSirenInUse()

void setLightBarSirenInUse	(	LightBarSirenInUse &	light_bar_siren_in_use,
		const std::vector< bool > &	bits
	)

inline

Set the Lightbar Siren In Use by a vector of bools.

Parameters

light_bar_siren_in_use
bits

Definition at line 289 of file cam_setters_common.h.

◆ setLongitudinalAcceleration()

void setLongitudinalAcceleration	(	CAM &	cam,
		const double	lon_accel,
		const double	confidence = `std::numeric_limits<double>::infinity()`
	)

inline

Set the longitudinal acceleration.

Parameters

cam	CAM to set the acceleration value s
lon_accel	longitudinal acceleration to set in m/s^2 as decimal number (braking is negative), if not available use 16.1 m/s^2
confidence	standard deviation of the longitudinal acceleration in m/s^2 as decimal number Default is infinity, mapping to AccelerationConfidence::UNAVAILABLE

Definition at line 164 of file cam_setters_common.h.

◆ setReferencePosition()

void setReferencePosition	(	CAM &	cam,
		const double	latitude,
		const double	longitude,
		const double	altitude = `AltitudeValue::UNAVAILABLE`
	)

inline

Set the ReferencePosition for a CAM.

This function sets the latitude, longitude, and altitude of the CAMs reference position. If the altitude is not provided, it is set to AltitudeValue::UNAVAILABLE.

Parameters

cam	CAM to set the ReferencePosition
latitude	The latitude value position in degree as decimal number.
longitude	The longitude value in degree as decimal number.
altitude	The altitude value (above the reference ellipsoid surface) in meter as decimal number (optional).

Definition at line 197 of file cam_setters_common.h.

◆ setSpecialTransportType()

void setSpecialTransportType	(	SpecialTransportType &	special_transport_type,
		const std::vector< bool > &	bits
	)

inline

Set the Special Transport Type by a vector of bools.

Parameters

special_transport_type
bits

Definition at line 279 of file cam_setters_common.h.

◆ setSpeed()

void setSpeed	(	CAM &	cam,
		const double	speed_val,
		const double	confidence = `SpeedConfidence::UNAVAILABLE`
	)

inline

Set the vehicle speed.

Parameters

cam	CAM to set the speed value
speed_val	speed value to set in m/s as decimal number

Definition at line 152 of file cam_setters_common.h.

◆ setStationType()

void setStationType	(	CAM &	cam,
		const uint8_t	value
	)

inline

Set the StationType for a CAM.

Parameters

cam	CAM-Message to set the station_type value
value	station_type value to set

Definition at line 75 of file cam_setters_common.h.

◆ setVehicleDimensions()

void setVehicleDimensions	(	CAM &	cam,
		const double	vehicle_length,
		const double	vehicle_width
	)

inline

Set the vehicle dimensions.

Parameters

cam	CAM to set the vehicle dimensions
vehicle_length	vehicle length in meter as decimal number
vehicle_width	vehicle width in meter as decimal number

Definition at line 138 of file cam_setters_common.h.

◆ setVehicleLength()

void setVehicleLength	(	VehicleLength &	vehicle_length,
		const double	value
	)

inline

Set the VehicleLength object.

VehicleLengthConfidenceIndication is set to UNAVAILABLE

Parameters

vehicle_length	object to set
value	VehicleLengthValue in meter as decimal number

Definition at line 126 of file cam_setters_common.h.

◆ setVehicleLengthValue()

void setVehicleLengthValue	(	VehicleLengthValue &	vehicle_length,
		const double	value
	)

inline

Set the VehicleLengthValue object.

Parameters

vehicle_length	object to set
value	VehicleLengthValue in meter as decimal number

Definition at line 112 of file cam_setters_common.h.

◆ setVehicleWidth()

void setVehicleWidth	(	VehicleWidth &	vehicle_width,
		const double	value
	)

inline

Set the VehicleWidth object.

Parameters

vehicle_width	object to set
value	VehicleWidth in meter as decimal number

Definition at line 100 of file cam_setters_common.h.

Functions

Detailed Description

Function Documentation

◆ setAccelerationControl()

◆ setDrivingLaneStatus()

◆ setEmergencyPriority()

◆ setExteriorLights() [1/2]

◆ setExteriorLights() [2/2]

◆ setFromUTMPosition()

◆ setGenerationDeltaTime() [1/2]

◆ setGenerationDeltaTime() [2/2]

◆ setHeading()

◆ setLateralAcceleration()

◆ setLightBarSirenInUse()

◆ setLongitudinalAcceleration()

◆ setReferencePosition()

◆ setSpecialTransportType()

◆ setSpeed()

◆ setStationType()

◆ setVehicleDimensions()

◆ setVehicleLength()

◆ setVehicleLengthValue()

◆ setVehicleWidth()