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authorStanislaw Halik <sthalik@misaki.pl>2019-03-28 08:37:28 +0100
committerStanislaw Halik <sthalik@misaki.pl>2019-03-28 08:58:40 +0100
commit5114e97eb6201f381ded886b2d360524b5189a75 (patch)
tree7e63698f881b2895ef9caf8fdf77e7aef155d3db /logic/pipeline.cpp
parent9911d062318256b3e6c494a132c7b77df98f3125 (diff)
logic/pipeline: kill clamp_value()
Diffstat (limited to 'logic/pipeline.cpp')
-rw-r--r--logic/pipeline.cpp20
1 files changed, 1 insertions, 19 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp
index 130b7eff..2b3d9313 100644
--- a/logic/pipeline.cpp
+++ b/logic/pipeline.cpp
@@ -287,22 +287,6 @@ void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic)
}
}
-Pose pipeline::clamp_value(Pose value) const
-{
- // hatire, udp, and freepie trackers can mess up here
- for (unsigned i = 3; i < 6; i++)
- {
- value(i) = std::fmod(value(i), 360);
-
- const double x = value(i);
- if (std::fabs(x) - 1e-2 > 180)
- value(i) = std::fmod(x + std::copysign(180, x), 360) - std::copysign(180, x);
- value(i) = clamp(x, -180, 180);
- }
-
- return value;
-}
-
Pose pipeline::apply_center(Pose value) const
{
// this is incorrect but people like it
@@ -406,12 +390,10 @@ void pipeline::logic()
nan_check(newpose, raw, value);
- value = clamp_value(value);
-
{
maybe_enable_center_on_tracking_started();
maybe_set_center_pose(value, own_center_logic);
- value = clamp_value(apply_center(value));
+ value = apply_center(value);
// "corrected" - after various transformations to account for camera position
logger.write_pose(value);