コード例 #1
0
 private static Vector3 getPosition(NavigationOdometry navigationOdometry)
 {
     return(new Vector3(
                -navigationOdometry.pose.pose.position.y,
                navigationOdometry.pose.pose.position.z,
                navigationOdometry.pose.pose.position.x));
 }
コード例 #2
0
 private Vector3 GetPosition(NavigationOdometry message)
 {
     return(new Vector3(
                message.pose.pose.position.x,
                message.pose.pose.position.y,
                message.pose.pose.position.z));
 }
コード例 #3
0
 private static Quaternion getRotation(NavigationOdometry navigationOdometry)
 {
     return(new Quaternion(
                navigationOdometry.pose.pose.orientation.x,
                -navigationOdometry.pose.pose.orientation.z,
                navigationOdometry.pose.pose.orientation.y,
                navigationOdometry.pose.pose.orientation.w));
 }
コード例 #4
0
 private Quaternion GetRotation(NavigationOdometry message)
 {
     return(new Quaternion(
                message.pose.pose.orientation.x,
                message.pose.pose.orientation.y,
                message.pose.pose.orientation.z,
                message.pose.pose.orientation.w));
 }
コード例 #5
0
        private void updateOdometry(Message message)
        {
            NavigationOdometry navigationOdometry = (NavigationOdometry)message;

            odometryTransformManager.updateTransform(getPosition(navigationOdometry), getRotation(navigationOdometry));
        }