2 illustrates the relationship between the local ENU coordinates, the vehicle coordinates and. Translations between UU and ENU are coded in CoordFrameTransformer.h. in the navigation coordinate system, i is the frame index. Unreal Engine uses a different coordinate system: This information is only relevant for developers of this project This system was chosen as it seems to be the the default for (autonomous) driving ( 1, 2) and it is (the default for ROS).Īll data in global frame, that is all things not relative to the vehicle like position of the car odometry or cone positions, are relative to the starting position of the car.įor example, if the car spawned facing east and moved forward 1 meter and 0.5 meter right, it ends up at global position X=1 Y=-0.5 Z=0. If possible, we stick to the above descirbed coordinate system. The simulator coordinates in the ENU coordinate system (x = east, y = north, z = up) where x is pointing forward.Īll rotations are right-handed.
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