Function etsi_its_cpm_ts_msgs::access::setFromUTMPosition

Function Documentation

inline void etsi_its_cpm_ts_msgs::access::setFromUTMPosition(CollectivePerceptionMessage &cpm, const gm::PointStamped &utm_position, const int &zone, const bool &northp)

Set the ReferencePosition of a CPM 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:

  • cpm – [out] CPM for which to set the ReferencePosition

  • utm_position – [in] geometry_msgs::PointStamped describing the given utm position in meters

  • zone – [in] the UTM zone (zero means UPS) of the given position

  • northp – [in] hemisphere (true means north, false means south)