private void InitPlacePose() { placePose = programItem.GetPose()[0].GetPose(); placePosition = new Vector3(placePose.GetPosition().GetX(), -placePose.GetPosition().GetY(), placePose.GetPosition().GetZ()); //placePosition = new Vector3(placePose.GetPosition().GetX(), -placePose.GetPosition().GetY(), 0f); placeQuaternion = new Quaternion(-placePose.GetOrientation().GetX(), placePose.GetOrientation().GetY(), -placePose.GetOrientation().GetZ(), placePose.GetOrientation().GetW()); upPosition = objectToPlace.transform.localPosition + new Vector3(0, 0, 0.1f); }
private static bool PoseSet(PoseMsg pose) { if (pose.GetPosition().GetX() == 0f && pose.GetPosition().GetY() == 0f && pose.GetPosition().GetZ() == 0f && pose.GetOrientation().GetX() == 0f && pose.GetOrientation().GetY() == 0f && pose.GetOrientation().GetZ() == 0f && pose.GetOrientation().GetW() == 0f) { return(false); } return(true); }