Cuboid到3D模拟
将演员从长方体坐标转换为3D模拟坐标
- 图书馆:
自动驾驶工具箱 /驾驶场景和传感器建模
Description
这Cuboid到3D模拟block converts a cuboid actor pose in world coordinates to theX,,,,y,,,,and偏航coordinates used by the仿真3D车辆与地面关注堵塞。Use the converted values to set vehicle positions within the 3D simulation environment for actors created using theDriving Scenario Designerapp. The ground terrain of the scene determines the roll (X- 轴旋转),音高(y- 轴旋转)和高程(z车辆的轴位置)。
you can specify a bus containing a single actor pose or multiple actor poses. By default, the block converts the pose of the first actor in the bus. To specify the actor whose pose you want to convert, specify theActorid
那个演员。
在长方体和3 d仿真驾驶情况下,coordinate systems are the same, but the origins of vehicles differ. In cuboid driving scenarios, the vehicle origin is on the ground, under the center of the rear axle. The block transforms this origin to the origin used in the 3D simulation environment, which is under the geometric center of the vehicle. The table shows the origin difference between the two environments.
Cuboid车辆起源 | 3D模拟车辆起源 |
---|---|
|
|