private void InitPlacePose()
{
placePose = programItem.GetPose()[0].GetPose();
placePosition = new Vector3(placePose.GetPosition().GetX(), -placePose.GetPosition().GetY(), placePose.GetPosition().GetZ());
//placePosition = new Vector3(placePose.GetPosition().GetX(), -placePose.GetPosition().GetY(), 0f);
placeQuaternion = new Quaternion(-placePose.GetOrientation().GetX(), placePose.GetOrientation().GetY(), -placePose.GetOrientation().GetZ(), placePose.GetOrientation().GetW());
upPosition = objectToPlace.transform.localPosition + new Vector3(0, 0, 0.1f);
}
private static bool PoseSet(PoseMsg pose)
{
if (pose.GetPosition().GetX() == 0f &&
pose.GetPosition().GetY() == 0f &&
pose.GetPosition().GetZ() == 0f &&
pose.GetOrientation().GetX() == 0f &&
pose.GetOrientation().GetY() == 0f &&
pose.GetOrientation().GetZ() == 0f &&
pose.GetOrientation().GetW() == 0f)
{
return(false);
}
return(true);
}
