Function etsi_its_cam_msgs::access::setRefPosConfidence

Function Documentation

inline void etsi_its_cam_msgs::access::setRefPosConfidence(CAM &cam, const std::array<double, 4> &covariance_matrix, const double object_heading)

Set the confidence of the reference position.

Parameters:

  • cam – CAM-Message to set the confidence

  • covariance_matrix – The four values of the covariance matrix in the order: cov_xx, cov_xy, cov_yx, cov_yy The matrix has to be SPD, otherwise a std::invalid_argument exception is thrown. Its coordinate system is aligned with the object (x = longitudinal, y = lateral)

  • object_heading – heading of the object in rad, with respect to WGS84