From 723b98296a5636f561e3903560da9f1aa1797b82 Mon Sep 17 00:00:00 2001 From: GO63-samara Date: Sat, 31 Jul 2021 02:38:25 +0400 Subject: Adding a choice of centering method --- logic/pipeline.hpp | 10 ++++++---- 1 file changed, 6 insertions(+), 4 deletions(-) (limited to 'logic/pipeline.hpp') diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp index 7775054e..7b3703ee 100644 --- a/logic/pipeline.hpp +++ b/logic/pipeline.hpp @@ -20,6 +20,7 @@ #include #include +#include #include "export.hpp" @@ -99,8 +100,9 @@ class OTR_LOGIC_EXPORT pipeline : private QThread reltrans rel; struct { - rmat inv_R = rmat::eye(); - Pose_ T; + Pose P; + QQuaternion QC = QQuaternion(1,0,0,0); + QQuaternion QR = QQuaternion(1,0,0,0); } center; time_units::ms backlog_time {}; @@ -111,8 +113,8 @@ class OTR_LOGIC_EXPORT pipeline : private QThread void logic(); void run() override; bool maybe_enable_center_on_tracking_started(); - void maybe_set_center_pose(const Pose& value, bool own_center_logic); - Pose apply_center(Pose value) const; + void maybe_set_center_pose(const centering_state mode, const Pose& value, bool own_center_logic); + Pose apply_center(const centering_state mode, Pose value) const; std::tuple get_selected_axis_values(const Pose& newpose) const; Pose maybe_apply_filter(const Pose& value) const; Pose apply_reltrans(Pose value, vec6_bool disabled, bool centerp); -- cgit v1.2.3