private void WriteMessage()
{
message.header.Update();
Vector3 eulers = c.transform.rotation.eulerAngles;
eulers += new Vector3(SimUtils.getRandNormal(0, orientationNoiseStdDev), SimUtils.getRandNormal(0, orientationNoiseStdDev), SimUtils.getRandNormal(0, orientationNoiseStdDev));
Quaternion orientation = Quaternion.Euler(eulers.x, -eulers.z, -eulers.y);
message.orientation.w = orientation.w;
message.orientation.x = orientation.x;
message.orientation.y = orientation.y;
message.orientation.z = orientation.z;
Vector3 accel = c.transform.worldToLocalMatrix * c.accel; // sick maths
message.linear_acceleration.x = accel.x + SimUtils.getRandNormal(0, accelNoiseStdDev);
message.linear_acceleration.y = accel.z + SimUtils.getRandNormal(0, accelNoiseStdDev);
message.linear_acceleration.z = accel.y + SimUtils.getRandNormal(0, accelNoiseStdDev);
message.angular_velocity.x = c.angular_vel.x + SimUtils.getRandNormal(0, angularVelocityNoiseStdDev);
message.angular_velocity.y = -c.angular_vel.z + SimUtils.getRandNormal(0, angularVelocityNoiseStdDev);
message.angular_velocity.z = -c.angular_vel.y + SimUtils.getRandNormal(0, angularVelocityNoiseStdDev);
Publish(message);
}
private void WriteMessage()
{
Vector3 pos = this.transform.position;
message.latitude = (pos.x + SimUtils.getRandNormal(0, latNoiseStdDev)) / 110944.33 + lat0Pos;
message.longitude = (pos.z + SimUtils.getRandNormal(0, lonNoiseStdDev)) / 91058.93 + lon0Pos;
Publish(message);
}
private void FixedUpdate()
{
if (newMessage)
{
car.SetControl(lastMessage.speed + SimUtils.getRandNormal(0, powerNoiseStdDev), lastMessage.turn_angle + SimUtils.getRandNormal(0, angleNoiseStdDev));
newMessage = false;
}
if (begingame)
{
begingame = false;
GameManager.instance.StartSim();
}
if (firstMessage && !begingame && Time.realtimeSinceStartup - startTime >= 30)
{
GameManager.instance.StopSim("Did not start in 30 seconds!");
}
}
private void WriteMessage()
{
message.latitude = Mathf.Round((c.linear_vel.x + SimUtils.getRandNormal(0, velocityNoiseStdDev) * c.Power / 4.0f) * 1000f) / 1000f;
message.longitude = Mathf.Round((c.linear_vel.z + SimUtils.getRandNormal(0, velocityNoiseStdDev) * c.Power / 4.0f) * 1000f) / 1000f;
Publish(message);
}
private void WriteMessage()
{
message.data = Mathf.Round((c.Power + SimUtils.getRandNormal(0, velocityNoiseStdDev) * c.Power / 4.0f) * 1000f) / 1000f;
Publish(message);
}
