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; } }