diff options
| -rw-r--r-- | tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp | 11 |
1 files changed, 8 insertions, 3 deletions
diff --git a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp index 12cf9bca..621e601a 100644 --- a/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp +++ b/tracker-freepie-udp/ftnoir_tracker_freepie-udp.cpp @@ -3,6 +3,11 @@ #include <cinttypes> #include <algorithm> +#include <cmath> + +#ifndef M_PI +# define M_PI 3.14159265358979323846 +#endif TrackerImpl::TrackerImpl() : pose { 0,0,0, 0,0,0 }, should_quit(false) { @@ -37,7 +42,7 @@ void TrackerImpl::run() { flag_Orient = 1 << 1, Mask = flag_Raw | flag_Orient }; - + (void) sock.bind(QHostAddress::Any, (int) s.port, QUdpSocket::ShareAddress | QUdpSocket::ReuseAddressHint); while (!should_quit) { @@ -46,7 +51,7 @@ void TrackerImpl::run() { bound<int>(s.idx_y, 0, 2), bound<int>(s.idx_z, 0, 2) }; - float orient[3]; + double orient[3] = {0, 0, 0}; bool filled = false; while (sock.hasPendingDatagrams()) @@ -87,7 +92,7 @@ void TrackerImpl::run() { }; int indices[] = { s.add_yaw, s.add_pitch, s.add_roll }; QMutexLocker foo(&mtx); - static constexpr double r2d = 57.295781; + static constexpr double r2d = 180 / M_PI; for (int i = 0; i < 3; i++) { int val = 0; |