Compute acceleration from perceived object velocity

[tigroo]

Find how to compute a PerceivedObject acceleration from the full CPM data.

rust/src/mobility/mobile_perceived_object.rs, line 95:

impl MobilePerceivedObject {
    // TODO FGA: check how to keep it private and manage end to end CPMs with natively
    //           perceived object mobility
    pub(crate) fn new(
        perceived_object: PerceivedObject,
        cpm: &CollectivePerceptionMessage,
    ) -> Self {
        let mobile_id = compute_id(perceived_object.object_id, cpm.station_id);
        let cartesian_velocity = &perceived_object
            .velocity
            .as_ref()
            .and_then(|v| v.cartesian_velocity.as_ref())
            .map_or(CartesianVelocity::default(), |v| v.clone());
        let speed = speed_from_yaw_angle(
            cartesian_velocity.x_velocity.value,
            cartesian_velocity.y_velocity.value,
        );
        let (position, heading) = match &cpm.originating_vehicle_container {
            Some(_) => {
                let cpm_heading = cpm.heading().unwrap_or_default();
                // If the CPM has an originating vehicle container, we compute the heading
                // from the perceived object and the vehicle's heading.
                (
                    compute_position_from_mobile(
                        perceived_object.position.x_coordinate.value,
                        perceived_object.position.y_coordinate.value,
                        &cpm.position(),
                        cpm_heading,
                    ),
                    compute_heading_from_mobile(
                        cartesian_velocity.x_velocity.value,
                        cartesian_velocity.y_velocity.value,
                        cpm_heading,
                    ),
                )
            }
            None => {
                // If there is no originating vehicle container, we compute from the RSU
                (
                    enu_destination(
                        &cpm.position(),
                        perceived_object.position.x_coordinate.value as f64 / 100.,
                        perceived_object.position.y_coordinate.value as f64 / 100.,
                        perceived_object
                            .position
                            .z_coordinate
                            .unwrap_or_default()
                            .value as f64
                            / 100.,
                    ),
                    compute_heading_from_rsu(
                        cartesian_velocity.x_velocity.value,
                        cartesian_velocity.y_velocity.value,
                    ),
                )
            }
        };
        // FIXME compute acceleration from perceived object velocity. See https://github.com/Orange-OpenSource/its-client/issues/416
        let acceleration = 0.0;

        Self {
            perceived_object,
            mobile_id,
            position,
            speed,
            heading,
            acceleration,
        }
    }
}