Don't use axes as class/struct members. Use an array instead, and iterate over them where applicable.

2 files changed, 11 insertions, 15 deletions

diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
index 4978fa8d..58316298 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.cpp
@@ -38,12 +38,8 @@ FTNoIR_Tracker::FTNoIR_Tracker()
 	bEnableZ = true;

 	portAddress = 5551;

 

-	newHeadPose.x = 0.0f;

-	newHeadPose.y = 0.0f;

-	newHeadPose.z = 0.0f;

-	newHeadPose.yaw   = 0.0f;

-	newHeadPose.pitch = 0.0f;

-	newHeadPose.roll  = 0.0f;

+    for (int i = 0; i < 6; i++)

+        newHeadPose[i] = 0;

 }

 

 FTNoIR_Tracker::~FTNoIR_Tracker()

@@ -111,26 +107,26 @@ void FTNoIR_Tracker::StartTracker(QFrame* videoFrame)
 	return;

 }

 

-bool FTNoIR_Tracker::GiveHeadPoseData(THeadPoseData *data)

+bool FTNoIR_Tracker::GiveHeadPoseData(double *data)

 {

     mutex.lock();

 	if (bEnableX) {

-		data->x = newHeadPose.x;

+        data[TX] = newHeadPose[TX];

 	}

 	if (bEnableX) {

-		data->y = newHeadPose.y;

+        data[TY] = newHeadPose[TY];

 	}

 	if (bEnableX) {

-		data->z = newHeadPose.z;

+        data[TZ] = newHeadPose[TZ];

 	}

     if (bEnableYaw) {

-		data->yaw = newHeadPose.yaw;

+        data[RX] = newHeadPose[RX];

 	}

     if (bEnablePitch) {

-		data->pitch = newHeadPose.pitch;

+        data[RY] = newHeadPose[RY];

 	}

     if (bEnableRoll) {

-		data->roll = newHeadPose.roll;

+        data[RZ] = newHeadPose[RZ];

 	}

     mutex.unlock();

 	return true;

diff --git a/ftnoir_tracker_udp/ftnoir_tracker_udp.h b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
index d60b27a4..ccb42ac1 100644
--- a/ftnoir_tracker_udp/ftnoir_tracker_udp.h
+++ b/ftnoir_tracker_udp/ftnoir_tracker_udp.h
@@ -16,7 +16,7 @@ public:
 	~FTNoIR_Tracker();

 

     void StartTracker( QFrame *videoframe );

-	bool GiveHeadPoseData(THeadPoseData *data);

+    bool GiveHeadPoseData(double *data);

 	void loadSettings();

     volatile bool should_quit;

     void WaitForExit() {

@@ -34,7 +34,7 @@ private:
 	QHostAddress destIP;									// Destination IP-address

 	QHostAddress srcIP;										// Source IP-address

 

-	THeadPoseData newHeadPose;								// Structure with new headpose

+    double newHeadPose[6];								// Structure with new headpose

 

 	float portAddress;										// Port-number

 	bool bEnableRoll;