diff options
Diffstat (limited to 'logic/pipeline.hpp')
| -rw-r--r-- | logic/pipeline.hpp | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp index 7775054e..a539525d 100644 --- a/logic/pipeline.hpp +++ b/logic/pipeline.hpp @@ -8,7 +8,6 @@ #include "compat/euler.hpp" #include "compat/enum-operators.hpp" #include "runtime-libraries.hpp" -#include "extensions.hpp" #include "spline/spline.hpp" #include "main-settings.hpp" @@ -20,6 +19,7 @@ #include <atomic> #include <cmath> +#include <QQuaternion> #include "export.hpp" @@ -84,10 +84,9 @@ class OTR_LOGIC_EXPORT pipeline : private QThread mutable QMutex mtx; main_settings s; const Mappings& m; - event_handler& ev; Timer t; - Pose output_pose, raw_6dof; + Pose output_pose, raw_6dof, last_value; Pose newpose; runtime_libraries const& libs; @@ -99,8 +98,9 @@ class OTR_LOGIC_EXPORT pipeline : private QThread reltrans rel; struct { - rmat inv_R = rmat::eye(); - Pose_ T; + Pose P; + QQuaternion QC = QQuaternion(1,0,0,0); + QQuaternion QR = QQuaternion(1,0,0,0); } center; time_units::ms backlog_time {}; @@ -111,8 +111,8 @@ class OTR_LOGIC_EXPORT pipeline : private QThread void logic(); void run() override; bool maybe_enable_center_on_tracking_started(); - void maybe_set_center_pose(const Pose& value, bool own_center_logic); - Pose apply_center(Pose value) const; + void maybe_set_center_pose(const centering_state mode, const Pose& value, bool own_center_logic); + Pose apply_center(const centering_state mode, Pose value) const; std::tuple<Pose, Pose, vec6_bool> get_selected_axis_values(const Pose& newpose) const; Pose maybe_apply_filter(const Pose& value) const; Pose apply_reltrans(Pose value, vec6_bool disabled, bool centerp); @@ -123,7 +123,7 @@ class OTR_LOGIC_EXPORT pipeline : private QThread bits b; public: - pipeline(const Mappings& m, const runtime_libraries& libs, event_handler& ev, TrackLogger& logger); + pipeline(const Mappings& m, const runtime_libraries& libs, TrackLogger& logger); ~pipeline() override; void raw_and_mapped_pose(double* mapped, double* raw) const; |