public RosBridgeConnector(AgentSetup type)
{
agentType = type;
lastEnvironment = agentType.TargetRosEnv;
if (type.TargetRosEnv == ROSTargetEnvironment.APOLLO35)
{
Bridge = new Comm.Cyber.CyberBridge();
}
else
{
Bridge = new Comm.Ros.RosBridge();
}
}
public void Disconnect()
{
connectTime = Time.time + 1.0f;
Bridge.Disconnect();
if (lastEnvironment != agentType.TargetRosEnv)
{
if (agentType.TargetRosEnv == ROSTargetEnvironment.APOLLO35)
{
Bridge = new Comm.Cyber.CyberBridge();
}
else
{
Bridge = new Comm.Ros.RosBridge();
}
lastEnvironment = agentType.TargetRosEnv;
}
}
Vector3 GetPosition(ROSTargetEnvironment targetEnv, double easting, double northing)
{
MapOrigin mapOrigin = GameObject.Find("/MapOrigin").GetComponent <MapOrigin>();
if (targetEnv == ROSTargetEnvironment.APOLLO || targetEnv == ROSTargetEnvironment.APOLLO35)
{
easting += 500000;
}
easting -= mapOrigin.OriginEasting;
northing -= mapOrigin.OriginNorthing;
float x = (float)easting;
float z = (float)northing;
if (targetEnv == ROSTargetEnvironment.AUTOWARE)
{
return(new Vector3(x, 0, z));
}
return(Quaternion.Euler(0f, -mapOrigin.Angle, 0f) * new Vector3(x, 0, z));
}
