//Convert coordinate to Autoware/Rviz coordinate public static ApolloCommon.PointENU GetApolloCoordinates(Vector3 unityPos, bool dim3D = true) { var pointENU = new ApolloCommon.PointENU() { X = unityPos.x, Y = unityPos.z, }; if (dim3D) { pointENU.Z = unityPos.y; } return(pointENU); }
public static ApolloCommon.PointENU GetApolloCoordinates(Vector3 unityPos, float originEasting, float originNorthing, float altitudeOffset, float angle, bool dim3D = true) { unityPos = Quaternion.Euler(0f, angle, 0f) * unityPos; var pointENU = new ApolloCommon.PointENU() { X = unityPos.x + originEasting, Y = unityPos.z + originNorthing }; if (dim3D) { pointENU.Z = unityPos.y + altitudeOffset; } return(pointENU); }