diff options
Diffstat (limited to 'logic')
| -rw-r--r-- | logic/pipeline.cpp | 26 | ||||
| -rw-r--r-- | logic/pipeline.hpp | 8 |
2 files changed, 15 insertions, 19 deletions
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp index 6c00acb0..9c9f35a6 100644 --- a/logic/pipeline.cpp +++ b/logic/pipeline.cpp @@ -303,8 +303,7 @@ bool pipeline::maybe_enable_center_on_tracking_started() void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic) { euler_t tmp = d2r * euler_t(&value[Yaw]); - //scaled_rotation.rotation = euler_to_rmat(c_div * tmp); - rotation.rotation = euler_to_rmat(tmp); + state.rotation = euler_to_rmat(tmp); if (get(f_center | f_held_center)) { @@ -313,17 +312,13 @@ void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic) if (own_center_logic) { - //scaled_rotation.rot_center = rmat::eye(); - rotation.inv_rot_center = rmat::eye(); - - t_center = euler_t(); + state.inv_rot_center = rmat::eye(); + state.t_center = euler_t(); } else { - rotation.inv_rot_center = rotation.rotation.t(); - //scaled_rotation.rot_center = scaled_rotation.rotation.t(); - - t_center = euler_t((const double*)(value)); + state.inv_rot_center = state.rotation.t(); + state.t_center = euler_t((const double*)(value)); } } } @@ -351,10 +346,10 @@ Pose pipeline::clamp_value(Pose value) const Pose pipeline::apply_center(Pose value) const { - euler_t T = euler_t(value) - t_center; - euler_t R = r2d * rmat_to_euler(rotation.rotation * rotation.inv_rot_center); + euler_t T = euler_t(value) - state.t_center; + euler_t R = r2d * rmat_to_euler(state.rotation * state.inv_rot_center); - T = rel.rotate(rotation.inv_rot_center, T, vec3_bool()); + T = rel.rotate(state.inv_rot_center, T, vec3_bool()); for (int i = 0; i < 3; i++) { @@ -575,9 +570,10 @@ void pipeline::run() logic(); constexpr ns const_sleep_ms(time_cast<ns>(ms(4))); - const ns elapsed_nsecs = prog1(t.elapsed<ns>(), t.start()); + const ns elapsed_nsecs = t.elapsed<ns>(); + t.start(); - if (backlog_time > secs_(3) || backlog_time < secs_(-3)) + if (backlog_time > secs(3) || backlog_time < secs(-3)) { qDebug() << "tracker: backlog interval overflow" << time_cast<ms>(backlog_time).count() << "ms"; diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp index 5db2a753..79042727 100644 --- a/logic/pipeline.hpp +++ b/logic/pipeline.hpp @@ -101,19 +101,19 @@ private: // the logger while the tracker is running. TrackLogger& logger; - struct state + struct state_ { rmat inv_rot_center; rmat rotation; + euler_t t_center; - state() : inv_rot_center(rmat::eye()) + state_() : inv_rot_center(rmat::eye()) {} }; reltrans rel; - state rotation; - euler_t t_center; + state_ state; ns backlog_time = ns(0); |