Added world rotation normalize

LibCarla/source/carla/geom/Rotation.h

@@ -6,6 +6,8 @@
 
 #pragma once
 
+#include <cmath>
+
 #include "carla/MsgPack.h"
 #include "carla/geom/Math.h"
 #include "carla/geom/Vector3D.h"
@@ -124,18 +126,89 @@ namespace geom {
       in_point = out_point;
     }
 
+    // =========================================================================
+    // -- UE4 methods -------------------------------------------------
+    // =========================================================================
+    
+    Rotation Normalize() {
+      Rotation V0 = Rotation(*this);
+
+      V0.pitch = V0.pitch - (360.0f * trunc(V0.pitch/360.0f));
+      V0.yaw   = V0.yaw   - (360.0f * trunc(V0.yaw/360.0f));
+      V0.roll  = V0.roll  - (360.0f * trunc(V0.roll/360.0f));
+
+      if( V0.pitch < 0.0f ){
+        V0.pitch += 360.0f;
+      }
+      if( V0.yaw < 0.0f ){
+        V0.yaw += 360.0f;
+      }
+      if( V0.roll < 0.0f ){
+        V0.roll += 360.0f;
+      }
+
+      if( V0.pitch >= 180.0f ){
+        V0.pitch -= 360.0f;
+      }
+      if( V0.yaw >= 180.0f ){
+        V0.yaw -= 360.0f;
+      }
+      if( V0.roll >= 180.0f ){
+        V0.roll -= 360.0f;
+      }
+      
+      return V0;
+    }
+
     // =========================================================================
     // -- Comparison operators -------------------------------------------------
     // =========================================================================
 
-    bool operator==(const Rotation &rhs) const  {
-      return (pitch == rhs.pitch) && (yaw == rhs.yaw) && (roll == rhs.roll);
+    bool operator==(const Rotation &rhs) const {
+      return ((pitch == rhs.pitch) && (yaw == rhs.yaw) && (roll == rhs.roll)) || 
+        // When comparing two normalized rotators the sum of both comps can be 180 according to UE, we are following same structure for rotators
+        ( ( abs(pitch) + abs(rhs.pitch) == 180.0f) && ( abs(yaw) + abs(rhs.yaw) == 180.0f) && ( abs(roll) + abs(rhs.roll) == 180.0f) );
     }
 
-    bool operator!=(const Rotation &rhs) const  {
+    bool operator!=(const Rotation &rhs) const {
       return !(*this == rhs);
     }
 
+    // =========================================================================
+    // -- Aritmetic operators -------------------------------------------------
+    // =========================================================================
+
+    Rotation operator+(const Rotation &rhs) const{
+      Rotation Result;
+      Result.pitch = pitch + rhs.pitch;
+      Result.yaw = yaw + rhs.yaw;
+      Result.roll = roll + rhs.roll;
+      return Result;
+    }
+
+    Rotation operator-(const Rotation &rhs) const{
+      Rotation Result;
+      Result.pitch = pitch - rhs.pitch;
+      Result.yaw = yaw - rhs.yaw;
+      Result.roll = roll - rhs.roll;
+      return Result;
+    }
+
+    Rotation& operator+=(const Rotation &rhs){
+      pitch += rhs.pitch;
+      yaw += rhs.yaw;
+      roll += rhs.roll;
+      return *this;
+    }
+
+    Rotation& operator-=(const Rotation &rhs){
+      pitch -= rhs.pitch;
+      yaw -= rhs.yaw;
+      roll -= rhs.roll;
+      return *this;
+    }
+
+
     // =========================================================================
     // -- Conversions to UE4 types ---------------------------------------------
     // =========================================================================

PythonAPI/carla/src/Geometry.cpp

@@ -151,6 +151,7 @@ void export_geom() {
     .def("get_forward_vector", &cg::Rotation::GetForwardVector)
     .def("get_right_vector", &cg::Rotation::GetRightVector)
     .def("get_up_vector", &cg::Rotation::GetUpVector)
+    .def("get_normalized", &cg::Rotation::Normalize)
     .def("__eq__", &cg::Rotation::operator==)
     .def("__ne__", &cg::Rotation::operator!=)
     .def(self_ns::str(self_ns::self))

Unreal/CarlaUnreal/Plugins/Carla/Source/Carla/Actor/CarlaActor.cpp

@@ -349,7 +349,7 @@ void FCarlaActor::SetActorGlobalTransform(
       LocalTransform =
           LargeMap->GlobalToLocalTransform(LocalTransform);
     }
-    GetActor()->SetActorRelativeTransform(
+    GetActor()->SetActorTransform(
         LocalTransform,
         false,
         nullptr,