36 {
37 int obj_id = object_id(bytes, length);
38 auto conti_obs = nano_radar->add_contiobs();
39 conti_obs->set_clusterortrack(false);
40 conti_obs->set_obstacle_id(obj_id);
41 conti_obs->set_longitude_dist(longitude_dist(bytes, length));
42 conti_obs->set_lateral_dist(lateral_dist(bytes, length));
43 conti_obs->set_longitude_vel(longitude_vel(bytes, length));
44 conti_obs->set_lateral_vel(lateral_vel(bytes, length));
45 conti_obs->set_rcs(rcs(bytes, length));
46 conti_obs->set_dynprop(dynprop(bytes, length));
47
48
49 double obs_range = obstacle_range(longitude_dist(bytes, length),
50 lateral_dist(bytes, length));
51 double obs_angle = obstacle_angle(longitude_dist(bytes, length),
52 lateral_dist(bytes, length));
53 double obs_vel = obstacle_velocity(longitude_vel(bytes, length),
54 lateral_vel(bytes, length), obs_angle);
55
56
57
58
59
60 conti_obs->set_obstacle_range(obs_range);
61 conti_obs->set_obstacle_vel(obs_vel);
62 conti_obs->set_obstacle_angle(obs_angle);
64 auto header = conti_obs->mutable_header();
65 header->CopyFrom(nano_radar->header());
66 header->set_timestamp_sec(timestamp);
67}
static Time Now()
get the current time.
double ToSecond() const
convert time to second.