diff options
Diffstat (limited to 'logic/pipeline.hpp')
| -rw-r--r-- | logic/pipeline.hpp | 10 |
1 files changed, 6 insertions, 4 deletions
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp index fc1f2060..80d4d8a7 100644 --- a/logic/pipeline.hpp +++ b/logic/pipeline.hpp @@ -20,6 +20,7 @@ #include <atomic> #include <cmath> +#include <QQuaternion> #include "export.hpp" @@ -99,8 +100,9 @@ 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 +113,8 @@ 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); |