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authorStanislaw Halik <sthalik@misaki.pl>2018-12-06 08:10:27 +0100
committerStanislaw Halik <sthalik@misaki.pl>2018-12-06 08:11:01 +0100
commitc804162354aabf6d9a6f0528cdb216c2203b760d (patch)
treed9f7c37f5d6f1293e2035aa05d41e89db44e9506 /logic/pipeline.hpp
parent8ca38ae2a9dc59ab61cb17ee5c550fd36f1fd050 (diff)
logic/pipeline: center through arithmetic only
This is incorrect but people like it.
Diffstat (limited to 'logic/pipeline.hpp')
-rw-r--r--logic/pipeline.hpp14
1 files changed, 1 insertions, 13 deletions
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
index 142a3844..9fdd6c32 100644
--- a/logic/pipeline.hpp
+++ b/logic/pipeline.hpp
@@ -31,16 +31,6 @@ using namespace time_units;
using vec6_bool = Mat<bool, 6, 1>;
using vec3_bool = Mat<bool, 6, 1>;
-static constexpr inline double scale_c = 8;
-static constexpr inline double scale_inv_c = 1/scale_c;
-
-struct state_
-{
- rmat inv_rot_center { rmat::eye() };
- rmat rotation { rmat::eye() };
- euler_t t_center;
-};
-
class reltrans
{
euler_t interp_pos;
@@ -108,8 +98,7 @@ class OTR_LOGIC_EXPORT pipeline : private QThread
reltrans rel;
- //state_ state, scaled_state;
- state_ scaled_state;
+ Pose center;
ns backlog_time {};
@@ -120,7 +109,6 @@ class OTR_LOGIC_EXPORT pipeline : private QThread
void run() override;
bool maybe_enable_center_on_tracking_started();
void set_center_pose(const Pose& value, bool own_center_logic);
- void store_tracker_pose(const Pose& value);
Pose clamp_value(Pose value) const;
Pose apply_center(Pose value) const;
std::tuple<Pose, Pose, vec6_bool> get_selected_axis_values(const Pose& newpose) const;