logic, api: switch euler to use euler_t input. adjust usages.

3 files changed, 10 insertions, 8 deletions

diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp
index e8d8a522..aec9e654 100644
--- a/opentrack-logic/tracker.cpp
+++ b/opentrack-logic/tracker.cpp
@@ -194,7 +194,7 @@ void Tracker::logic()
 
         for (int i = 0; i < 3; i++)
         {
-            value(i) = tmp[i];
+            value(i) = tmp(i);
             value(i+3) = euler(i);
         }
     }
@@ -223,9 +223,11 @@ void Tracker::logic()
                            value(Pitch) * d2r,
                            value(Roll) * d2r);
             t_compensate(euler_to_rmat(&value_[0]),
-                         value,
-                         value,
+                         value_,
+                         value_,
                          s.tcomp_tz);
+            for (int i = 3; i < 6; i++)
+                value(i) = value_(i);
         }
 
         for (int i = 0; i < 6; i++)
diff --git a/opentrack/simple-mat.cpp b/opentrack/simple-mat.cpp
index 6a5421c1..ed372299 100644
--- a/opentrack/simple-mat.cpp
+++ b/opentrack/simple-mat.cpp
@@ -30,11 +30,11 @@ euler_t rmat_to_euler(const dmat<3, 3>& R)
 }
 
 // tait-bryan angles, not euler
-rmat euler_to_rmat(const double* input)
+rmat euler_to_rmat(const euler_t input)
 {
-    const double H = input[0];
-    const double P = input[1];
-    const double B = input[2];
+    const double H = input(0);
+    const double P = input(1);
+    const double B = input(2);
 
     const auto c1 = cos(H);
     const auto s1 = sin(H);
diff --git a/opentrack/simple-mat.hpp b/opentrack/simple-mat.hpp
index 04cd38ee..93d0d0c9 100644
--- a/opentrack/simple-mat.hpp
+++ b/opentrack/simple-mat.hpp
@@ -268,7 +268,7 @@ template<int y, int x> using dmat = Mat<double, y, x>;
 using rmat = dmat<3, 3>;
 using euler_t = dmat<3, 1>;
 
-rmat OPENTRACK_API_EXPORT euler_to_rmat(const double* input);
+rmat OPENTRACK_API_EXPORT euler_to_rmat(const euler_t input);
 
 // http://stackoverflow.com/a/18436193
 euler_t OPENTRACK_API_EXPORT rmat_to_euler(const dmat<3, 3>& R);