:param target_loc_in_global: carla.Location in global coordinate (world, actor) :param ref_trans_in_global: carla.Transform in global coordinate (world, actor) :return: carla.Location in ref coordinate
(target_loc_in_global, ref_trans_in_global)
| 3 | |
| 4 | |
| 5 | def loc_global_to_ref(target_loc_in_global, ref_trans_in_global): |
| 6 | """ |
| 7 | :param target_loc_in_global: carla.Location in global coordinate (world, actor) |
| 8 | :param ref_trans_in_global: carla.Transform in global coordinate (world, actor) |
| 9 | :return: carla.Location in ref coordinate |
| 10 | """ |
| 11 | x = target_loc_in_global.x - ref_trans_in_global.location.x |
| 12 | y = target_loc_in_global.y - ref_trans_in_global.location.y |
| 13 | z = target_loc_in_global.z - ref_trans_in_global.location.z |
| 14 | vec_in_global = carla.Vector3D(x=x, y=y, z=z) |
| 15 | vec_in_ref = vec_global_to_ref(vec_in_global, ref_trans_in_global.rotation) |
| 16 | |
| 17 | target_loc_in_ref = carla.Location(x=vec_in_ref.x, y=vec_in_ref.y, z=vec_in_ref.z) |
| 18 | return target_loc_in_ref |
| 19 | |
| 20 | |
| 21 | def vec_global_to_ref(target_vec_in_global, ref_rot_in_global): |
no test coverage detected