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Fixed Unreal Lidar sensor incorrectly setting start position for the traces #2143

Merged
merged 7 commits into from
Oct 8, 2019
Original file line number Diff line number Diff line change
Expand Up @@ -113,7 +113,7 @@ bool UnrealLidarSensor::shootLaser(const msr::airlib::Pose& lidar_pose, const ms
const msr::airlib::LidarSimpleParams params, Vector3r &point, int &segmentationID)
{
// start position
Vector3r start = lidar_pose.position + vehicle_pose.position;
Vector3r start = VectorMath::add(lidar_pose, vehicle_pose).position;

// We need to compose rotations here rather than rotate a vector by a quaternion
// Hence using coordOrientationAdd(..) rather than rotateQuaternion(..)
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