j3224_types.hpp

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// Copyright 2023 Leidos
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
//     http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
 
#ifndef CARMA_COOPERATIVE_PERCEPTION__J3224_TYPES_HPP_
#define CARMA_COOPERATIVE_PERCEPTION__J3224_TYPES_HPP_
 
#include <units.h>
 
#include <carma_v2x_msgs/msg/measurement_time_offset.hpp>
#include <carma_v2x_msgs/msg/position_offset_xyz.hpp>
#include <j3224_v2x_msgs/msg/measurement_time_offset.hpp>
#include <j3224_v2x_msgs/msg/position_offset_xyz.hpp>
#include <optional>
 
namespace carma_cooperative_perception
{
struct PositionOffsetXYZ
{
  units::length::decimeter_t offset_x{0.0};
  units::length::decimeter_t offset_y{0.0};
  std::optional<units::length::decimeter_t> offset_z;
 
  [[nodiscard]] static auto from_msg(const j3224_v2x_msgs::msg::PositionOffsetXYZ & msg)
    -> PositionOffsetXYZ;
 
  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::PositionOffsetXYZ & msg)
    -> PositionOffsetXYZ;
};
 
struct MeasurementTimeOffset
{
  units::time::millisecond_t measurement_time_offset;
 
  [[nodiscard]] static auto from_msg(const j3224_v2x_msgs::msg::MeasurementTimeOffset & msg)
    -> MeasurementTimeOffset;
 
  [[nodiscard]] static auto from_msg(const carma_v2x_msgs::msg::MeasurementTimeOffset & msg)
    -> MeasurementTimeOffset;
};
 
}  // namespace carma_cooperative_perception
 
#endif  // CARMA_COOPERATIVE_PERCEPTION__J3224_TYPES_HPP_