Downcase. PLEASE TURN OFF IGNORING CASE IN GIT CONFIG!!!

.git/config:

[core]
	ignorecase = false

1 files changed, 44 insertions, 0 deletions

diff --git a/facetracknoir/tracker_types.cpp b/facetracknoir/tracker_types.cpp
new file mode 100644
index 00000000..cdd8d239
--- /dev/null
+++ b/facetracknoir/tracker_types.cpp
@@ -0,0 +1,44 @@
+#include "tracker_types.h"

+#include "rotation.h"

+

+const double PI = 3.14159265358979323846264;

+const double D2R = PI/180.0;

+const double R2D = 180.0/PI;

+

+T6DOF operator-(const T6DOF& A, const T6DOF& B)

+{

+	Rotation R_A(A.yaw*D2R, A.pitch*D2R, A.roll*D2R);

+	Rotation R_B(B.yaw*D2R, B.pitch*D2R, B.roll*D2R);

+	Rotation R_C = R_A * R_B.inv();

+

+	T6DOF C;

+	R_C.toEuler(C.yaw, C.pitch, C.roll);

+	C.yaw *= R2D;

+	C.pitch *= R2D;

+	C.roll *= R2D;

+

+	C.x = A.x - B.x;

+	C.y = A.y - B.y;

+	C.z = A.z - B.z;

+	//C.frame_number?

+	return C;

+}

+

+T6DOF operator+(const T6DOF& A, const T6DOF& B)

+{

+	Rotation R_A(A.yaw*D2R, A.pitch*D2R, A.roll*D2R);

+	Rotation R_B(B.yaw*D2R, B.pitch*D2R, B.roll*D2R);

+	Rotation R_C = R_A * R_B;

+

+	T6DOF C;

+	R_C.toEuler(C.yaw, C.pitch, C.roll);

+	C.yaw *= R2D;

+	C.pitch *= R2D;

+	C.roll *= R2D;

+

+	C.x = A.x + B.x;

+	C.y = A.y + B.y;

+	C.z = A.z + B.z;

+	//C.frame_number?

+	return C;

+}