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authorStanislaw Halik <sthalik@misaki.pl>2016-09-24 14:24:29 +0200
committerStanislaw Halik <sthalik@misaki.pl>2016-09-24 14:24:29 +0200
commit15ca247adc52ba0d7fdb86482f2f541025800be0 (patch)
tree251725fb00c62f1c8032956072ba4d04616dbea9
parent398bb31956cee88cbbdc88a5040532309e4acc1d (diff)
logic/tracker: use a second enum to make errors stand out more
-rw-r--r--logic/tracker.cpp9
1 files changed, 6 insertions, 3 deletions
diff --git a/logic/tracker.cpp b/logic/tracker.cpp
index d7f75e38..f0826a5f 100644
--- a/logic/tracker.cpp
+++ b/logic/tracker.cpp
@@ -65,23 +65,26 @@ double Tracker::map(double pos, Map& axis)
void Tracker::t_compensate(const rmat& rmat, const euler_t& xyz, euler_t& output,
bool disable_tx, bool disable_ty, bool disable_tz)
{
+ enum { tb_Z, tb_X, tb_Y };
+
// TY is really yaw axis. need swapping accordingly.
+ // sign changes are due to right-vs-left handedness of coordinate system used
const euler_t ret = rmat * euler_t(xyz(TZ), -xyz(TX), -xyz(TY));
if (disable_tz)
output(TZ) = xyz(TZ);
else
- output(TZ) = ret(0);
+ output(TZ) = ret(tb_Z);
if (disable_ty)
output(TY) = xyz(TY);
else
- output(TY) = -ret(2);
+ output(TY) = -ret(tb_Y);
if (disable_tx)
output(TX) = xyz(TX);
else
- output(TX) = -ret(1);
+ output(TX) = -ret(tb_X);
}
#include "compat/nan.hpp"