Class CPMRenderObject

• Defined in File cpm_render_object.hpp

Nested Relationships

Nested Types

• Struct CPMRenderObject::Object

Class Documentation

class CPMRenderObject

This class is used to render a CPM object in RViz.

Public Functions

CPMRenderObject(const etsi_its_cpm_ts_msgs::msg::CollectivePerceptionMessage cpm)

Construct a new CPMRenderObject object from a CPM message.

Parameters:

cpm –

bool validateFloats()

This function validates all float variables that are part of a CPMRenderObject.

double getAge(const rclcpp::Time now)

Get age of CPM-object.

Parameters:

now – reference point in time to calculate the age with

Returns:

age in seconds as double value

std_msgs::msg::Header getHeader()

uint32_t getStationID()

geometry_msgs::msg::PointStamped getReferencePosition()

uint8_t getNumberOfObjects()

geometry_msgs::msg::Pose getPoseOfObject(const uint8_t idx)

geometry_msgs::msg::Vector3 getDimensionsOfObject(const uint8_t idx)

geometry_msgs::msg::Vector3 getVelocityOfObject(const uint8_t idx)

struct Object

Public Members

geometry_msgs::msg::Pose pose

geometry_msgs::msg::Vector3 dimensions

geometry_msgs::msg::Vector3 velocity