The following Map Coordinate System is adopted for MORAI SIM versions dated 09-Apr-2021 and onwards.
Ground Truth (GT) data from MORAI Simulator adhere to the local East, North, Up (ENU) Coordinate System.
A vehicle oriented east is defined as having a heading of 0 degrees.
The vehicle heading angle increases in the counter-clockwise (CCW) direction.
Legacy System
MORAI SIM versions dated prior to 25-Mar-2021 observe the following coordinate system.
Ground Truth (GT) data from MORAI Simulator adhere to the local East, North, Up (ENU) Coordinate System, where the heading has a 90 degree offset where north is defined as 0 degrees.
The vehicle oriented north is defined as having a heading of 0 degrees.
The vehicle heading angle increases in the counter-clockwise (CCW) direction.
