void UpdateValues()
{
Vector3 pos = Target.transform.position;
if (targetEnv == ROSTargetEnvironment.AUTOWARE)
{
// Autoware does not use origin/angle from map
pos.x -= MapOrigin.OriginEasting - 500000;
pos.z -= MapOrigin.OriginNorthing;
pos = Quaternion.Euler(0f, -MapOrigin.Angle, 0f) * pos;
}
MapOrigin.GetNorthingEasting(pos, out northing, out easting);
double lat, lon;
MapOrigin.GetLatitudeLongitude(northing, easting, out lat, out lon);
latitude = lat;
longitude = lon;
if (targetEnv == ROSTargetEnvironment.AUTOWARE)
{
// Autoware does not use UTMZoneId from map
longitude -= (MapOrigin.UTMZoneId - 1) * 6 - 180 + 3;
}
}
