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Merge pull request #145 from Field-Robotics-Japan/develop
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2 parents 655478c + 30c7854 commit c33247d

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‎Assets/Test.unity

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‎Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab

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‎Assets/Test.unity.meta renamed to ‎Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab.meta

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‎Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GNSSSensor.cs

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@@ -10,7 +10,7 @@ namespace UnitySensors.Sensor.GNSS
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public class GNSSSensor : UnitySensor
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{
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[SerializeField]
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private GeoCoordinate _baseCoordinate = new GeoCoordinate(35.71020206575301, 139.81070039691542, 3.0f);
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private GeoCoordinateSystem _coordinateSystem;
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private Transform _transform;
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private GeoCoordinateConverter _gcc;
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protected override void Init()
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{
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_transform = this.transform;
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_gcc = new GeoCoordinateConverter(_baseCoordinate.latitude, _baseCoordinate.longitude);
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_coordinate = new GeoCoordinate(_baseCoordinate.latitude, _baseCoordinate.longitude, _baseCoordinate.altitude);
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}
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protected override void UpdateSensor()
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{
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Vector3 position = _transform.position;
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(_coordinate.latitude, _coordinate.longitude) = _gcc.XZ2LatLon(position.x, position.z);
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_coordinate.altitude = _baseCoordinate.altitude + position.y;
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_coordinate = _coordinateSystem.GetCoordinate(_transform.position);
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if (onSensorUpdated != null)
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onSensorUpdated.Invoke();
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}

‎Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs

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using System.Collections;
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using System.Collections.Generic;
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using UnityEngine;
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using UnitySensors.Utils.GeoCoordinate;
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namespace UnitySensors.Sensor.GNSS
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{
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public class GeoCoordinateSystem : MonoBehaviour
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{
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[SerializeField]
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private GeoCoordinate _coordinate = new GeoCoordinate(35.71020206575301, 139.81070039691542, 3.0f);
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private Transform _transform;
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private GeoCoordinateConverter _converter;
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private void Awake()
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{
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_transform = this.transform;
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_converter = new GeoCoordinateConverter(_coordinate.latitude, _coordinate.longitude);
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}
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public GeoCoordinate GetCoordinate(Vector3 worldPosition)
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{
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Vector3 localPosition = _transform.InverseTransformPoint(worldPosition);
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double latitude, longitude;
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(latitude, longitude) = _converter.XZ2LatLon(localPosition.x, localPosition.z);
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return new GeoCoordinate(latitude, longitude, localPosition.y + _coordinate.altitude);
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}
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}
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}

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‎Assets/UnitySensors/Runtime/Scripts/Sensors/TF/TF.cs

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tfData_self.frame_id_parent = frame_id_parent;
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tfData_self.frame_id_child = _frame_id;
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tfData_self.position = (Vector3)(worldToLocalMatrix * new Vector4(_transform.position.x, _transform.position.y, _transform.position.z, 1.0f));
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Vector3 localScale = _transform.localScale;
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Vector3 lossyScale = _transform.lossyScale;
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Vector3 scaleVector = new Vector3()
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x = localScale.x != 0 ? lossyScale.x / localScale.x : 0,
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y = localScale.y != 0 ? lossyScale.y / localScale.y : 0,
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z = localScale.z != 0 ? lossyScale.z / localScale.z : 0
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};
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tfData_self.position.Scale(scaleVector);
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tfData_self.rotation = worldToLocalQuaternion * _transform.rotation;
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tfData.Add(tfData_self);
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‎Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs renamed to ‎Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs

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namespace UnitySensors.Utils.GeoCoordinate
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{
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[System.Serializable]
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public class GeoCoordinate
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public struct GeoCoordinate
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{
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public GeoCoordinate(double lat, double lon, double alt)
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{

‎Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinates.cs.meta renamed to ‎Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinate.cs.meta

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‎Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs renamed to ‎Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs

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‎Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinatesConverter.cs.meta renamed to ‎Assets/UnitySensors/Runtime/Scripts/Utils/GeoCoordinates/GeoCoordinateConverter.cs.meta

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‎Assets/UnitySensors/Samples/GNSS/Demo_GNSS.unity

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‎Assets/UnitySensorsROS/Runtime/Prefabs/GNSS/GNSS_ros.prefab

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