35 {
36 int obj_id = object_id(bytes, length);
37
38 for (int i = 0; i < racobit_radar->contiobs_size(); ++i) {
39 if (racobit_radar->contiobs(i).obstacle_id() == obj_id) {
40 auto obs = racobit_radar->mutable_contiobs(i);
41 obs->set_longitude_dist_rms(
42 LINEAR_RMS[longitude_dist_rms(bytes, length)]);
43 obs->set_lateral_dist_rms(
LINEAR_RMS[lateral_dist_rms(bytes, length)]);
44 obs->set_longitude_vel_rms(
LINEAR_RMS[longitude_vel_rms(bytes, length)]);
45 obs->set_lateral_vel_rms(
LINEAR_RMS[lateral_vel_rms(bytes, length)]);
46 obs->set_longitude_accel_rms(
47 LINEAR_RMS[longitude_accel_rms(bytes, length)]);
48 obs->set_lateral_accel_rms(
LINEAR_RMS[lateral_accel_rms(bytes, length)]);
49 obs->set_oritation_angle_rms(
50 ANGLE_RMS[oritation_angle_rms(bytes, length)]);
51 obs->set_probexist(
PROBOFEXIST[probexist(bytes, length)]);
52 obs->set_meas_state(meas_state(bytes, length));
53 break;
54 }
55 }
56}
const double LINEAR_RMS[32]
const double PROBOFEXIST[8]
const double ANGLE_RMS[32]