summaryrefslogtreecommitdiffhomepage
path: root/filter-kalman
diff options
context:
space:
mode:
authorStanislaw Halik <sthalik@misaki.pl>2018-12-28 03:02:57 +0100
committerStanislaw Halik <sthalik@misaki.pl>2019-01-16 07:48:18 +0100
commit6f04e4ca46e6f2dcd3eda63529a1bbd915f7676b (patch)
tree9aeb1332980c4285396457ad9f278495064549b5 /filter-kalman
parent3be3bb256f3e9362f8889f0532f875c5ad3b41fb (diff)
clang-tidy fixes only
Maybe global `-Wcomma' is too harsh. There should be no functional changes whatsoever.
Diffstat (limited to 'filter-kalman')
-rw-r--r--filter-kalman/kalman.cpp3
-rw-r--r--filter-kalman/kalman.h14
2 files changed, 10 insertions, 7 deletions
diff --git a/filter-kalman/kalman.cpp b/filter-kalman/kalman.cpp
index f88d7f90..1960e0f6 100644
--- a/filter-kalman/kalman.cpp
+++ b/filter-kalman/kalman.cpp
@@ -192,7 +192,6 @@ void kalman::reset()
for (int i = 0; i < 6; i++) {
last_input[i] = 0;
}
- first_run = true;
dt_since_last_input = 0;
prev_slider_pos[0] = s.noise_pos_slider_value;
@@ -311,7 +310,7 @@ double settings::map_slider_value(const slider_value& v_)
|
left_side_log10
*/
- const int k = v * num_divisions; // in which division are we?!
+ const int k = int(v * num_divisions); // in which division are we?!
const double f = v * num_divisions - k; // where in the division are we?!
const double ff = f * 9. + 1.;
const double multiplier = int(ff * 10.) / 10.;
diff --git a/filter-kalman/kalman.h b/filter-kalman/kalman.h
index 30f9e90f..ad5e3e20 100644
--- a/filter-kalman/kalman.h
+++ b/filter-kalman/kalman.h
@@ -109,15 +109,19 @@ public:
void center() override { reset(); }
module_status initialize() override { return status_ok(); }
- PoseVector last_input;
- Timer timer;
- bool first_run;
double dt_since_last_input;
- settings s;
+ PoseVector last_input;
KalmanFilter kf;
KalmanProcessNoiseScaler kf_adaptive_process_noise_cov;
DeadzoneFilter dz_filter;
- slider_value prev_slider_pos[2];
+ settings s;
+ slider_value prev_slider_pos[2] {
+ *s.noise_pos_slider_value,
+ *s.noise_rot_slider_value,
+ };
+ Timer timer;
+
+ bool first_run = true;
};
class kalmanDll : public Metadata