Common getter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1 and v2.1.1. More...

#include <array>
#include <cmath>
#include <cstdint>
#include <GeographicLib/UTMUPS.hpp>

Include dependency graph for cdd_getters_common.h:

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Functions
std::array< double, 4 >	CovMatrixFromConfidenceEllipse (double semi_major, double semi_minor, double major_orientation, const double object_heading)
	Convert the confidence ellipse to a covariance matrix. More...

double	getAltitude (const Altitude &altitude)
	Get the Altitude value. More...

template<typename Heading >
double	getHeadingCDD (const Heading &heading)
	Get the Heading value. More...

template<typename Heading >
double	getHeadingConfidenceCDD (const Heading &heading)
	Get the Heading value. More...

double	getLatitude (const Latitude &latitude)
	Get the Latitude value. More...

double	getLongitude (const Longitude &longitude)
	Get the Longitude value. More...

template<typename PosConfidenceEllipse >
std::tuple< double, double, double >	getPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse)
	Extract major axis length, minor axis length and orientation from the given position confidence ellipse. More...

template<typename PosConfidenceEllipse >
std::array< double, 4 >	getPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse, const double object_heading)
	Get the covariance matrix of the position confidence ellipse. More...

template<typename SemiAxisLength >
double	getSemiAxis (const SemiAxisLength &semi_axis_length)
	Get the Semi Axis object. More...

double	getSpeed (const Speed &speed)
	Get the vehicle speed. More...

double	getSpeedConfidence (const Speed &speed)
	Get the Speed Confidence. More...

uint32_t	getStationID (const ItsPduHeader &header)
	Get the StationID of ItsPduHeader. More...

template<typename T >
gm::PointStamped	getUTMPosition (const T &reference_position, int &zone, bool &northp)
	Get the UTM Position defined by the given ReferencePosition. More...

template<typename PosConfidenceEllipse >
std::array< double, 4 >	getWGSPosConfidenceEllipse (const PosConfidenceEllipse &position_confidence_ellipse)
	Get the covariance matrix of the position confidence ellipse. More...

std::array< double, 4 >	WGSCovMatrixFromConfidenceEllipse (double semi_major, double semi_minor, double major_orientation)
	Convert the confidence ellipse to a covariance matrix. More...

Detailed Description

Common getter functions for the ETSI ITS Common Data Dictionary (CDD) v1.3.1 and v2.1.1.

Definition in file cdd_getters_common.h.

Function Documentation

◆ CovMatrixFromConfidenceEllipse()

std::array<double, 4> CovMatrixFromConfidenceEllipse	(	double	semi_major,
		double	semi_minor,
		double	major_orientation,
		const double	object_heading
	)

inline

Convert the confidence ellipse to a covariance matrix.

Note that the major_orientation is given in degrees, while the object_heading is given in radians!

Parameters

semi_major	Semi major axis length in meters
semi_minor	Semi minor axis length in meters
major_orientation	Orientation of the major axis in degrees, relative to WGS84
object_heading	object heading in radians, relative to WGS84

Returns: std::array<double, 4> The covariance matrix in vehicle coordinates (x = longitudinal, y = lateral)

Definition at line 181 of file cdd_getters_common.h.

◆ getAltitude()

double getAltitude ( const Altitude & altitude )

inline

Get the Altitude value.

Parameters

altitude to get the Altitude value from

Returns: Altitude value (above the reference ellipsoid surface) in meter as decimal number

Definition at line 70 of file cdd_getters_common.h.

◆ getHeadingCDD()

template<typename Heading >

double getHeadingCDD ( const Heading & heading )

inline

Get the Heading value.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters

heading to get the Heading value from

Returns: Heading value in degree as decimal number

Definition at line 131 of file cdd_getters_common.h.

◆ getHeadingConfidenceCDD()

template<typename Heading >

double getHeadingConfidenceCDD ( const Heading & heading )

inline

Get the Heading value.

0.0° equals WGS84 North, 90.0° equals WGS84 East, 180.0° equals WGS84 South and 270.0° equals WGS84 West

Parameters

heading to get the Heading standard deviation from

Returns: Heading standard deviation in degree as decimal number

Definition at line 142 of file cdd_getters_common.h.

◆ getLatitude()

double getLatitude ( const Latitude & latitude )

inline

Get the Latitude value.

Parameters

latitude to get the Latitude value from

Returns: Latitude value in degree as decimal number

Definition at line 54 of file cdd_getters_common.h.

◆ getLongitude()

double getLongitude ( const Longitude & longitude )

inline

Get the Longitude value.

Parameters

longitude to get the Longitude value from

Returns: Longitude value in degree as decimal number

Definition at line 62 of file cdd_getters_common.h.

◆ getPosConfidenceEllipse() [1/2]

template<typename PosConfidenceEllipse >

std::tuple<double, double, double> getPosConfidenceEllipse ( const PosConfidenceEllipse & position_confidence_ellipse )

inline

Extract major axis length, minor axis length and orientation from the given position confidence ellipse.

Parameters

position_confidence_ellipse The position confidence ellipse to extract the values from

Returns: std::tuple<double, double, double> major axis length in meters, minor axis length in meters, and orientation in degrees

Definition at line 162 of file cdd_getters_common.h.

◆ getPosConfidenceEllipse() [2/2]

template<typename PosConfidenceEllipse >

std::array<double, 4> getPosConfidenceEllipse	(	const PosConfidenceEllipse &	position_confidence_ellipse,
		const double	object_heading
	)

inline

Get the covariance matrix of the position confidence ellipse.

Parameters

position_confidence_ellipse	The position confidence ellipse to get the covariance matrix from
object_heading	The object heading in radians

Returns: std::array<double, 4> The covariance matrix of the position confidence ellipse in vehicle coordinates (x = longitudinal, y = lateral)

Definition at line 223 of file cdd_getters_common.h.

◆ getSemiAxis()

template<typename SemiAxisLength >

double getSemiAxis ( const SemiAxisLength & semi_axis_length )

inline

Get the Semi Axis object.

Parameters

semi_axis_length The SemiAxisLength object to get the semi axis from

Returns: double the semi axis length in meters

Definition at line 151 of file cdd_getters_common.h.

◆ getSpeed()

double getSpeed ( const Speed & speed )

inline

Get the vehicle speed.

Parameters

speed to get the speed value from

Returns: speed value in m/s as decimal number

Definition at line 78 of file cdd_getters_common.h.

◆ getSpeedConfidence()

double getSpeedConfidence ( const Speed & speed )

inline

Get the Speed Confidence.

Parameters

speed to get the SpeedConfidence from

Returns: double speed standard deviation in m/s as decimal number

Definition at line 86 of file cdd_getters_common.h.

◆ getStationID()

uint32_t getStationID ( const ItsPduHeader & header )

inline

Get the StationID of ItsPduHeader.

Parameters

header ItsPduHeader to get the StationID value from

Returns: stationID value

Definition at line 46 of file cdd_getters_common.h.

◆ getUTMPosition()

template<typename T >

gm::PointStamped getUTMPosition	(	const T &	reference_position,
		int &	zone,
		bool &	northp
	)

inline

Get the UTM Position defined by the given ReferencePosition.

The position is transformed into UTM by using GeographicLib::UTMUPS The altitude value is directly used as z-Coordinate

Parameters

[in]	reference_position	ReferencePosition or ReferencePositionWithConfidence to get the UTM Position from
[out]	zone	the UTM zone (zero means UPS)
[out]	northp	hemisphere (true means north, false means south)

Returns: gm::PointStamped geometry_msgs::PointStamped of the given position

Definition at line 102 of file cdd_getters_common.h.

◆ getWGSPosConfidenceEllipse()

template<typename PosConfidenceEllipse >

std::array<double, 4> getWGSPosConfidenceEllipse ( const PosConfidenceEllipse & position_confidence_ellipse )

inline

Get the covariance matrix of the position confidence ellipse.

Parameters

position_confidence_ellipse	The position confidence ellipse to get the covariance matrix from
object_heading	The object heading in radians

Returns: std::array<double, 4> The covariance matrix of the position confidence ellipse in WGS coordinates (x = North, y = East)

Definition at line 236 of file cdd_getters_common.h.

◆ WGSCovMatrixFromConfidenceEllipse()

std::array<double, 4> WGSCovMatrixFromConfidenceEllipse	(	double	semi_major,
		double	semi_minor,
		double	major_orientation
	)

inline

Convert the confidence ellipse to a covariance matrix.

Note that the major_orientation is given in degrees, while the object_heading is given in radians!

Parameters

semi_major	Semi major axis length in meters
semi_minor	Semi minor axis length in meters
major_orientation	Orientation of the major axis in degrees, relative to WGS84

Returns: std::array<double, 4> The covariance matrix in WGS coordinates (x = North, y = East)

Definition at line 210 of file cdd_getters_common.h.

Functions

Detailed Description

Function Documentation

◆ CovMatrixFromConfidenceEllipse()

◆ getAltitude()

◆ getHeadingCDD()

◆ getHeadingConfidenceCDD()

◆ getLatitude()

◆ getLongitude()

◆ getPosConfidenceEllipse() [1/2]

◆ getPosConfidenceEllipse() [2/2]

◆ getSemiAxis()

◆ getSpeed()

◆ getSpeedConfidence()

◆ getStationID()

◆ getUTMPosition()

◆ getWGSPosConfidenceEllipse()

◆ WGSCovMatrixFromConfidenceEllipse()