public static Vector3 ToUnity(this GeoRotation geoRotation)
{
Vector3 unityRotation = new Vector3(x: (float)geoRotation.east, y: (float)geoRotation.heading, z: (float)geoRotation.north);
return(unityRotation);
}
/// <summary>
/// Transforms WGS84 coordinate and GeoRotation into fiducialEntryMessage.
/// </summary>
public FiducialMapEntryMsg CreateFiducialMapEntryMessage(int fiducialId, GeoPointWGS84 wgsPoint, GeoRotation geoRotation)
{
return(new FiducialMapEntryMsg(fiducial_id: fiducialId, x: wgsPoint.longitude, y: wgsPoint.latitude, z: wgsPoint.altitude,
rx: geoRotation.east, ry: geoRotation.north, rz: geoRotation.heading));
}
public static GeoRotation ToGeoRotation(this Vector3 unityRotation)
{
GeoRotation geoRotation = new GeoRotation(unityRotation.y, unityRotation.z, unityRotation.x);
return(geoRotation);
}
