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Unity/AirLibWrapper/AirsimWrapper/Source/NedTransform.h
32 строки
951 B
Андрей Васильченко
сборка под ubuntu 26.04
08 июл 2026, 10:15
08 июл 2026, 10:15
d53c5a2
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#pragma once #include "common/Common.hpp" #include "AirSimStructs.hpp" /* Note on coordinate system ------------------------- We have following coordinate systems: (1) UU or Unreal Units or Unreal Coordinate system (2) Global NED: This is NED transformation of UU with origin set to 0,0,0 (3) Local NED: This is NED transformation of UU with origin set to vehicle's spawning UU location (4) Geo: This is GPS coordinate where UU origin is assigned some geo-coordinate Vehicles are spawned at position specified in settings in global NED */ class NedTransform { public: typedef msr::airlib::Vector3r Vector3r; typedef msr::airlib::Quaternionr Quaternionr; typedef msr::airlib::Pose Pose; public: NedTransform(const AirSimUnity::UnityTransform& global_transform); NedTransform(const NedTransform& global_transform); private: AirSimUnity::UnityTransform global_transform_; AirSimUnity::AirSimVector local_ned_offset_; };