fix: ref position relative to the vessel's center

and avoid using null values in converter
tidewise · Jan 28, 2025 · 9d1e750 · 9d1e750
1 parent 4c8e3b4
commit 9d1e750
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Showing 2 changed files with 11 additions and 5 deletions.
diff --git a/src/AIS.cpp b/src/AIS.cpp
@@ -110,13 +110,19 @@ ais_base::VesselInformation AIS::getVesselInformation(ais::message_05 const& mes
     string call_sign = message.get_callsign();
     first_not_space = call_sign.find_last_not_of(" ");
     info.call_sign = call_sign.substr(0, first_not_space + 1);
-    info.length = message.get_to_bow() + message.get_to_stern();
-    info.width = message.get_to_port() + message.get_to_starboard();
+    auto get_to_stern = message.get_to_stern();
+    auto get_to_starboard = message.get_to_starboard();
+    float length = message.get_to_bow() + get_to_stern;
+    float width = message.get_to_port() + get_to_starboard;
+    info.length = length;
+    info.width = width;
     info.draft = static_cast<float>(message.get_draught()) / 10;
     info.ship_type = static_cast<ais_base::ShipType>(message.get_shiptype());
     info.epfd_fix = static_cast<ais_base::EPFDFixType>(message.get_epfd_fix());
     info.reference_position =
-        Eigen::Vector3d(message.get_to_stern(), message.get_to_starboard(), 0);
+        Eigen::Vector3d(static_cast<double>(get_to_stern - length / 2.0),
+            static_cast<double>(get_to_starboard - width / 2.0),
+            0);
 
     info.ensureEnumsValid();
     return info;

diff --git a/test/test_AIS.cpp b/test/test_AIS.cpp
@@ -28,7 +28,7 @@ struct AISTest : public ::testing::Test, public iodrivers_base::Fixture<Driver>
 
     gps_base::UTMConverter createUTMConverter()
     {
-        gps_base::UTMConversionParameters parameters = {Eigen::Vector3d(0, 0, 0),
+        gps_base::UTMConversionParameters parameters = {Eigen::Vector3d(1, 1, 0),
             11,
             true};
         gps_base::UTMConverter converter(parameters);
@@ -190,7 +190,7 @@ TEST_F(AISTest, it_converts_marnav_message05_into_a_VesselInformation)
     ASSERT_EQ(ais_base::SHIP_TYPE_CARGO, info.ship_type);
     ASSERT_EQ(15, info.length);
     ASSERT_EQ(6, info.width);
-    ASSERT_EQ(base::Vector3d(10, 4, 0), info.reference_position);
+    ASSERT_EQ(base::Vector3d(2.5, 1, 0), info.reference_position);
     ASSERT_EQ(ais_base::EPFD_COMBINED_GPS_GLONASS, info.epfd_fix);
     ASSERT_NEAR(0.7, info.draft, 1e-2);
 }