Class IntersectionRenderObject

Class Documentation

class IntersectionRenderObject

Public Functions

IntersectionRenderObject(etsi_its_mapem_ts_msgs::msg::IntersectionGeometry intersection, bool timestamp_is_present, etsi_its_mapem_ts_msgs::msg::MinuteOfTheYear mapem_stamp, rclcpp::Time receive_time)
bool validateFloats()

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

double getAge(rclcpp::Time now)

Get age of corresponding MAPEM.

Parameters:

now – reference point in time to calculate the age with

Returns:

age in seconds as double value

void removeOutdatedMovemenStates(rclcpp::Time now, double timeout)

Remove outdated MovementStates.

Parameters:

  • now – reference point in time to calculate the age with

  • timeout – age threshold for that MovementStates should be removed

unsigned int getIntersectionID()

Get the IntersectionID.

Returns:

unsigned int intersection_id

std_msgs::msg::Header getHeader()

Get the header.

Returns:

std_msgs::msg::Header

geometry_msgs::msg::Point getRefPosition()

Get the ref_position object.

Returns:

geometry_msgs::msg::Point

tf2::Quaternion getGridConvergenceQuaternion()

Return a tf2::Quaternion describing the rotation offset between true-north and grid-north in the UTM zone.

Returns:

tf2::Quaternion

Public Members

std::vector<IntersectionLane> lanes
std::unordered_map<int, IntersectionMovementState> movement_states