12 tf2::Vector3 world_origin =
wing->
world_tf().getOrigin();
13 tf2::Quaternion world_quat =
wing->
world_tf().getRotation().normalized();
21 markers_->primitives[0].dimensions.resize(3);
28 markers_->primitive_poses[0].position.x = world_origin.getX();
29 markers_->primitive_poses[0].position.y = world_origin.getY();
30 markers_->primitive_poses[0].position.z = world_origin.getZ() -
wing->
size().getZ()/2;
31 markers_->primitive_poses[0].orientation.x = world_quat.getX();
32 markers_->primitive_poses[0].orientation.y = world_quat.getY();
33 markers_->primitive_poses[0].orientation.z = world_quat.getZ();
34 markers_->primitive_poses[0].orientation.w = world_quat.getW();