2 files changed, 17 insertions, 39 deletions

diff --git a/facetracknoir/pose.hpp b/facetracknoir/pose.hpp
index d925c0a8..41e984f5 100644
--- a/facetracknoir/pose.hpp
+++ b/facetracknoir/pose.hpp
@@ -33,34 +33,12 @@ public:
         return ret;
     }
 
-    Pose operator-(const Pose& B) const
+    Pose operator&(const Pose& B) const
     {
-        const Quat q = (quat() * B.quat().inv());
+        const Quat q = quat() * B.quat().inv();
         Pose ret = fromQuat(q);
-        for (int i = TX; i < Yaw; i++)
-            ret(i) = B(i);
-        return ret;
-    }
-
-    Pose operator+(const Pose& B) const
-    {
-        const Quat q = quat() * B.quat();
-        Pose ret = fromQuat(q);
-        for (int i = TX; i < Yaw; i++)
-            ret(i) = B(i);
-        return ret;
-    }
-
-    Pose operator|(const Pose& replacement) const
-    {
-        Pose ret = *this;
-        for (int i = 0; i < 6; i++)
-        {
-            static constexpr double eps = 1e-3;
-            // NB replace zero-valued elements with argument's
-            if (std::abs(ret(i)) < eps)
-                ret(i) = replacement(i);
-        }
+        for (int i = TX; i < TX + 3; i++)
+            ret(i) = axes[i] - B.axes[i];
         return ret;
     }
 };
diff --git a/facetracknoir/tracker.cpp b/facetracknoir/tracker.cpp
index 504cd003..4a80c722 100644
--- a/facetracknoir/tracker.cpp
+++ b/facetracknoir/tracker.cpp
@@ -98,7 +98,7 @@ void Tracker::run() {
 
         Libraries->pTracker->GetHeadPoseData(newpose);
 
-        Pose final_raw, final_mapped;
+        Pose final_raw, filtered;
 
         for (int i = 0; i < 6; i++)
         {
@@ -110,34 +110,34 @@ void Tracker::run() {
             final_raw(i) = newpose[k];
         }
 
-        if (centerp)  {
-            centerp = false;
-            pose_offset = final_raw;
-        }
-
         {
             if (enabledp)
                 unstopped_pose = final_raw;
 
             if (Libraries->pFilter)
-                Libraries->pFilter->FilterHeadPoseData(unstopped_pose, final_mapped);
+                Libraries->pFilter->FilterHeadPoseData(unstopped_pose, filtered);
             else
-                final_mapped = unstopped_pose;
+                filtered = unstopped_pose;
+            
+            if (centerp)  {
+                centerp = false;
+                pose_offset = filtered;
+            }
 
-            final_mapped = final_mapped - pose_offset;
+            filtered = filtered & pose_offset;
 
             for (int i = 0; i < 6; i++)
-                get_curve(final_mapped(i), final_mapped(i), m(i));
+                get_curve(filtered(i), filtered(i), m(i));
         }
 
         if (s.tcomp_p)
-            t_compensate(final_mapped, final_mapped, s.tcomp_tz);
+            t_compensate(filtered, filtered, s.tcomp_tz);
 
-        Libraries->pProtocol->sendHeadposeToGame(final_mapped);
+        Libraries->pProtocol->sendHeadposeToGame(filtered);
 
         {
             QMutexLocker foo(&mtx);
-            output_pose = final_mapped;
+            output_pose = filtered;
             raw_6dof = final_raw;
         }