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prony5
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Dec 18, 2024
Runtime/Tx/Msgs/Nav/OdometryTx.cs
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| data.pose.pose.orientation.y += GaussianNoise.Generate(rotationNoiseStdDev); | ||
| data.pose.pose.orientation.z += GaussianNoise.Generate(rotationNoiseStdDev); | ||
| data.pose.pose.orientation.w += GaussianNoise.Generate(rotationNoiseStdDev); | ||
| var euler = data.pose.pose.orientation.FromRos().eulerAngles; |
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var qNoise =Quaternion.Euler(
new Vector(GaussianNoise.Generate(rotationNoiseStdDev),
new Vector(GaussianNoise.Generate(rotationNoiseStdDev),
new Vector(GaussianNoise.Generate(rotationNoiseStdDev),
));
data.pose.pose.orientation *= qNoise;
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