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| author | Stanislaw Halik <sthalik@misaki.pl> | 2016-08-23 13:32:40 +0200 |
|---|---|---|
| committer | Stanislaw Halik <sthalik@misaki.pl> | 2016-08-23 13:32:40 +0200 |
| commit | 58f76e59cd28dd7239aa7b275e101a14629e9c3b (patch) | |
| tree | 3bb12fc721d1c740f4fb6270fac09f942a60b356 | |
| parent | 0888be6331e0f5c5a964788150172dcb9a61bb34 (diff) | |
logic/tracker: minor nonsense
| -rw-r--r-- | logic/tracker.cpp | 23 | ||||
| -rw-r--r-- | logic/tracker.h | 2 |
2 files changed, 12 insertions, 13 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp index db0deee4..4072d932 100644 --- a/logic/tracker.cpp +++ b/logic/tracker.cpp @@ -25,7 +25,6 @@ Tracker::Tracker(Mappings &m, SelectedLibraries &libs, TrackLogger &logger) : m(m), - newpose {0,0,0, 0,0,0}, libs(libs), logger(logger), centerp(s.center_at_startup), @@ -117,8 +116,8 @@ void Tracker::logic() if (k < 0 || k >= 6) value(i) = 0; else - value(i) = newpose[k]; - raw(i) = newpose[i]; + value(i) = newpose(k); + raw(i) = newpose(i); } logger.write_pose(raw); // raw @@ -149,8 +148,10 @@ void Tracker::logic() if (centerp && !nanp) { + using std::fabs; + for (int i = 0; i < 6; i++) - if (fabs(newpose[i]) != 0) + if (fabs(newpose(i)) != 0) { can_center = true; break; @@ -159,7 +160,6 @@ void Tracker::logic() if (can_center) { - centerp = false; if (libs.pFilter) @@ -250,12 +250,11 @@ void Tracker::logic() } else { - { - Pose tmp = value; + Pose tmp(value); + + if (libs.pFilter) + libs.pFilter->filter(tmp, value); - if (libs.pFilter) - libs.pFilter->filter(tmp, value); - } logger.write_pose(value); // "filtered" // CAVEAT rotation only, due to tcomp @@ -346,12 +345,12 @@ void Tracker::run() while (!should_quit) { - double tmp[6] {0,0,0, 0,0,0}; + Pose tmp; libs.pTracker->data(tmp); if (enabledp) for (int i = 0; i < 6; i++) - newpose[i] = elide_nan(tmp[i], newpose[i]); + newpose[i] = elide_nan(tmp(i), newpose(i)); logic(); diff --git a/logic/tracker.h b/logic/tracker.h index 6e5faddf..873e0936 100644 --- a/logic/tracker.h +++ b/logic/tracker.h @@ -43,7 +43,7 @@ private: Timer t; Pose output_pose, raw_6dof, last_mapped, last_raw; - double newpose[6]; + Pose newpose; SelectedLibraries const& libs; // The owner of the reference is the main window. // This design might be usefull if we decide later on to swap out |