public void GeodToDatabase()
{
CoordConverter.SetRefLatLon(Real.DatabaseRefLatlon);
var database = CoordConverter.GeodeticToDatabase(Real.Geod);
Debug.Log(database.X + " -> " + Real.Database.X);
Debug.Log(database.Y + " -> " + Real.Database.Y);
Debug.Log(database.Z + " -> " + Real.Database.Z);
Assert.AreEqual(Real.Database.X, database.X, 0.015);
Assert.AreEqual(Real.Database.Y, database.Y, 0.015);
Assert.AreEqual(Real.Database.Z, database.Z, 0.015);
}
public void GetDeadRecoknedPositionAndRotation(out Vector3 position, out Quaternion rotation)
{
float elapsedTime = TimeSinceLastHeartbeat;
GeocentricCoord location;
Vector3Float orientation;
DeadReckoningCalculator.Calculate(State, elapsedTime, out location, out orientation);
var geod = CoordConverter.GeocentricToGeodetic(location);
var databaseLocation = CoordConverter.GeodeticToDatabase(geod);
position = (Vector3)databaseLocation;
rotation = Quaternion.Euler(CoordConverter.OrientationToUnityEuler(orientation, (LatLonCoord)geod));
}