Function etsi_its_cpm_ts_msgs::access::getUTMPosition(const CollectivePerceptionMessage&)

• Defined in File cpm_ts_getters.h

Function Documentation

inline gm::PointStamped etsi_its_cpm_ts_msgs::access::getUTMPosition(const CollectivePerceptionMessage &cpm)

Get the UTM Position defined within the ManagementContainer of the CPM.

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

Parameters:

cpm – CPM from which to extract the UTM position.

Returns:

geometry_msgs::PointStamped of the given position with the UTM zone and hemisphere as frame_id