Exemplo n.º 1
0
        private void Update()
        {
            if (isMessageReceived)
            {
                Debug.Log("marker revcieved");
                Vector3 markerMapCoords = GetPosition(marker.pose).Ros2Unity();
                Debug.Log(markerMapCoords);;
                Vector3 unityCoords = positionManager.convertMapCoordinatesToUnityCoordinates(markerMapCoords);
                Debug.Log("converted");
                GeometryPoint location = new GeometryPoint();
                location.x = unityCoords.x;
                location.y = unityCoords.y;
                location.z = unityCoords.z;
                Debug.Log(location.x + ", " + location.y + ", " + location.z);
                marker.pose.position = location;

                if (beaconVisualizers != null)
                {
                    foreach (BeaconVisualizer beaconVisualizer in beaconVisualizers)
                    {
                        beaconVisualizer.addMarker(marker);
                    }
                }
                isMessageReceived = false;
            }
        }
Exemplo n.º 2
0
        private GeometryPoint GetGeometryPoint(Vector3 position)
        {
            GeometryPoint geometryPoint = new GeometryPoint();

            geometryPoint.x = position.x;
            geometryPoint.y = position.y;
            geometryPoint.z = position.z;
            return(geometryPoint);
        }
Exemplo n.º 3
0
 public GeometryPose()
 {
     position    = new GeometryPoint();
     orientation = new GeometryQuaternion();
 }