void
localize_ackerman_handler(carmen_localize_ackerman_globalpos_message *localize_ackerman_message)
{
car_fused_pose = localize_ackerman_message->pose;
car_fused_pose.position = sub_vectors(car_fused_pose.position, get_position_offset());
car_fused_pose.orientation.yaw = localize_ackerman_message->globalpos.theta;
car_fused_velocity = localize_ackerman_message->velocity;
car_fused_time = localize_ackerman_message->timestamp;
car_phi = localize_ackerman_message->phi;
car_fused_pose.position.z = 0.0;
car_fused_pose.orientation.pitch = 0.0;
car_fused_pose.orientation.roll = 0.0;
if (first_offline_map_message_flag)
{
car_global_pose = car_fused_pose;
first_offline_map_message_flag = -1;
}
localize_initialized = 1;
}
void hexbright::absolute_vector(int* out_vector, int* in_vector) {
sub_vectors(out_vector, in_vector, down_vector);
}