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more PR fixes

This commit is contained in:
Joel Moriana 2020-03-06 12:48:42 +01:00 committed by Marc Garcia Puig
parent f864f78d76
commit ac32aee647
1 changed files with 6 additions and 8 deletions
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14
Co-Simulation/Sumo/sumo_integration/bridge_helper.py
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@ -51,10 +51,9 @@ class BridgeHelper(object):
# (http://sumo.sourceforge.net/userdoc/Purgatory/Vehicle_Values.html#angle)
yaw = -1 * in_rotation.yaw + 90
pitch = in_rotation.pitch
length = 2.0 * extent.x
out_location = (in_location.x - math.cos(math.radians(yaw)) * (length / 2.0),
in_location.y - math.sin(math.radians(yaw)) * (length / 2.0),
in_location.z - math.sin(math.radians(pitch)) * (length / 2.0))
out_location = (in_location.x - math.cos(math.radians(yaw)) * extent.x,
in_location.y - math.sin(math.radians(yaw)) * extent.x,
in_location.z - math.sin(math.radians(pitch)) * extent.x)
out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
# Applying offset sumo-carla net.
@ -79,10 +78,9 @@ class BridgeHelper(object):
# From center to front-center-bumper (carla reference system).
yaw = -1 * in_rotation.yaw
pitch = in_rotation.pitch
length = 2.0 * extent.x
out_location = (in_location.x + math.cos(math.radians(yaw)) * (length / 2.0),
in_location.y - math.sin(math.radians(yaw)) * (length / 2.0),
in_location.z - math.sin(math.radians(pitch)) * (length / 2.0))
out_location = (in_location.x + math.cos(math.radians(yaw)) * extent.x,
in_location.y - math.sin(math.radians(yaw)) * extent.x,
in_location.z - math.sin(math.radians(pitch)) * extent.x)
out_rotation = (in_rotation.pitch, in_rotation.yaw, in_rotation.roll)
# Applying offset carla-sumo net