Cxc 91 update pose transform lib #227
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kjrush
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Sep 29, 2024
...ation/lib/mosaic-geomath/src/main/java/org/eclipse/mosaic/lib/transform/Proj4Projection.java
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| private String wgs84ReferenceString; | ||
| private String cartesianReferenceString; | ||
| CoordinateReferenceSystem wgs84CRS; |
...ation/lib/mosaic-geomath/src/main/java/org/eclipse/mosaic/lib/transform/Proj4Projection.java
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...ation/lib/mosaic-geomath/src/main/java/org/eclipse/mosaic/lib/transform/Proj4Projection.java
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...ation/lib/mosaic-geomath/src/main/java/org/eclipse/mosaic/lib/transform/Proj4Projection.java
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...ation/lib/mosaic-geomath/src/main/java/org/eclipse/mosaic/lib/transform/Proj4Projection.java
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chengyuan0124
previously approved these changes
Oct 3, 2024
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Looks like code coverage is >80%. Line duplication requirements are currently not met, the duplicated lines are required definitions of pure virtual functions and the warning should be safe to ignore. |
chengyuan0124
approved these changes
Oct 3, 2024
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PR Details
This PR adds pose transformation in mosaic using Proj. During testing it was found that the map transform calculated by mosaic on the data subscribed to from Traci, does not have geodetic coordinates that match the values calculated by carma-platform.
In order to fix this, the transform library in mosaic was extended to accept another parameter for the georeference string which can be used to calculate the geodetic coordinates like it is being calculated in carma-platform and sumo natively (Using proj).
The added georeference field is an optional argument to the mosaic scenario_configuration.
Description
Related GitHub Issue
Related Jira Key
https://usdot-carma.atlassian.net/browse/CXC-91
Motivation and Context
How Has This Been Tested?
Integration tested on xil_carma_cloud scenario on develop and vru scenario on carma-system-4.5.0.
Types of changes
Checklist: