diff options
| -rw-r--r-- | ftnoir_filter_accela/ftnoir_filter_accela.cpp | 14 |
1 files changed, 0 insertions, 14 deletions
diff --git a/ftnoir_filter_accela/ftnoir_filter_accela.cpp b/ftnoir_filter_accela/ftnoir_filter_accela.cpp index 9c44ce3b..0e6fa235 100644 --- a/ftnoir_filter_accela/ftnoir_filter_accela.cpp +++ b/ftnoir_filter_accela/ftnoir_filter_accela.cpp @@ -84,20 +84,6 @@ void FTNoIR_Filter::filter(const double* input, double *output) const double vec_ = max(0., fabs(vec) - dz); const double thres = i >= 3 ? rot_t : trans_t; const double val = f(vec_ / thres, i >= 3 ? rot_gains : trans_gains) * thres; - static Timer tr; - static double m = 0, n = 0; - if (i == 3) - { - m = max(vec_ / thres, m); - n = max(n, val * dt); - } - if (tr.elapsed_ms() > 1000) - { - tr.start(); - qDebug() << "3" << m << n; - m = 0; - n = 0; - } const double result = last_output[i] + (vec < 0 ? -1 : 1) * dt * val; const bool negp = vec < 0.; const bool done = negp |