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Merge pull request #138 from Field-Robotics-Japan/feature/gnssCalc
Feature/gnss calc
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Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab
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Assets/UnitySensors/Runtime/Prefabs/GNSS/GeoCoordinateSystem.prefab.meta
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Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs
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| using System.Collections; | ||
| using System.Collections.Generic; | ||
| using UnityEngine; | ||
|
|
||
| using UnitySensors.Utils.GeoCoordinate; | ||
|
|
||
| namespace UnitySensors.Sensor.GNSS | ||
| { | ||
| public class GeoCoordinateSystem : MonoBehaviour | ||
| { | ||
| [SerializeField] | ||
| private GeoCoordinate _coordinate = new GeoCoordinate(35.71020206575301, 139.81070039691542, 3.0f); | ||
|
|
||
| private Transform _transform; | ||
| private GeoCoordinateConverter _converter; | ||
|
|
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| private void Awake() | ||
| { | ||
| _transform = this.transform; | ||
| _converter = new GeoCoordinateConverter(_coordinate.latitude, _coordinate.longitude); | ||
| } | ||
|
|
||
| public GeoCoordinate GetCoordinate(Vector3 worldPosition) | ||
| { | ||
| Vector3 localPosition = _transform.InverseTransformPoint(worldPosition); | ||
| double latitude, longitude; | ||
| (latitude, longitude) = _converter.XZ2LatLon(localPosition.x, localPosition.z); | ||
| return new GeoCoordinate(latitude, longitude, localPosition.y + _coordinate.altitude); | ||
| } | ||
| } | ||
| } |
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Assets/UnitySensors/Runtime/Scripts/Sensors/GNSS/GeoCoordinateSystem.cs.meta
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...ts/Utils/GeoCoordinates/GeoCoordinates.cs → ...pts/Utils/GeoCoordinates/GeoCoordinate.cs
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