private void UpdateValues()
{
GeometryPoint rosP = rawMessage.pose.pose.position;
GeometryQuaternion rosQ = rawMessage.pose.pose.orientation;
position = new Vector3(-rosP.y, rosP.z, rosP.x);
orientation = new Quaternion(-rosQ.x, rosQ.z, rosQ.y, rosQ.w);
}
private GeometryQuaternion GetGeometryQuaternion(Quaternion quaternion)
{
GeometryQuaternion geometryQuaternion = new GeometryQuaternion();
geometryQuaternion.x = quaternion.x;
geometryQuaternion.y = quaternion.y;
geometryQuaternion.z = quaternion.z;
geometryQuaternion.w = quaternion.w;
return(geometryQuaternion);
}
private GeometryQuaternion GetGeometryQuaternion(Quaternion quaternion)
{
GeometryQuaternion geometryQuaternion = new GeometryQuaternion {
x = quaternion.x,
y = quaternion.y,
z = quaternion.z,
w = quaternion.w
};
return(geometryQuaternion);
}
private void Update() //毎サイクルごとにHSRのTFを習得してHSR_tf_markerを描画する
{
topic_tf = tf.base_footprint;
position = new Vector3(-topic_tf.pose.position.y, 0.5f, topic_tf.pose.position.x);
HSR_tf_marker.transform.localPosition = position;
GeometryQuaternion tmp = topic_tf.pose.orientation;
Quaternion quaternion = new Quaternion(0, tmp.z, 0, -tmp.w);
HSR_tf_marker.transform.localRotation = quaternion;
}
public GeometryTransform()
{
translation = new GeometryVector3();
rotation = new GeometryQuaternion();
}
public GeometryPose()
{
position = new GeometryPoint();
orientation = new GeometryQuaternion();
}