/// <summary> /// マップ座標系からROS座標へ変換 /// </summary> /// <param name="drwp"></param> public MarkPoint(DrawMarkPoint drwp, LocationSystem locSys) { x = (double)(drwp.x * locSys.MapTom); y = (double)(-drwp.y * locSys.MapTom); theta = (double)(-drwp.theta); }
/// <summary> /// ROS座標からマップ座標系へ変換 /// </summary> /// <param name="mkp"></param> /// <param name="mapScale"></param> public DrawMarkPoint(MarkPoint mkp, LocationSystem locSys) { x = (float)(mkp.x * locSys.mToMap); y = (float)(-mkp.y * locSys.mToMap); theta = (float)(-mkp.theta); }