/*********************** Delegate functions to be registered with AirLib *****************************/
private static bool SetPose(AirSimPose pose, bool ignoreCollision, string vehicleName)
{
var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
vehicle.VehicleInterface.SetPose(pose, ignoreCollision);
return(true);
}
private static bool SetPose(AirSimPose pose, bool ignoreCollision, string pedestrianName)
{
var pedestrian = Pedestrians.Find(element => element.pedestrianName == pedestrianName);
pedestrian.pedestrianPtr.SetPose(pose, ignoreCollision);
return(true);
}
public bool SetCameraPose(string cameraName, AirSimPose pose)
{
foreach (DataCaptureScript capture in captureCameras.Where(camCapture => camCapture.GetCameraName() == cameraName))
{
capture.SetPose(pose);
return(true);
}
return(false);
}
public bool SetPose(AirSimPose pose, bool ignore_collision)
{
poseFromAirLib = pose;
return(true);
}
public CameraInfo(AirSimPose pose, float fov)
{
this.pose = pose;
this.fov = fov;
}
public KinemticState(AirSimPose pose, Twist twist, Accelerations accelerations)
{
this.pose = pose;
this.twist = twist;
this.accelerations = accelerations;
}
private static bool SetCameraPose(string cameraName, AirSimPose pose, string vehicleName)
{
var vehicle = Vehicles.Find(element => element.vehicleName == vehicleName);
return(vehicle.VehicleInterface.SetCameraPose(cameraName, pose));
}
public void SetPose(AirSimPose pose)
{
DataManager.SetToUnity(pose.position, ref poseFromAirLib.position);
DataManager.SetToUnity(pose.orientation, ref poseFromAirLib.rotation);
isPoseOverride = true;
}