diff options
Diffstat (limited to 'opentrack')
| -rw-r--r-- | opentrack/tracker.cpp | 24 |
1 files changed, 8 insertions, 16 deletions
diff --git a/opentrack/tracker.cpp b/opentrack/tracker.cpp index e03342e4..acbfded5 100644 --- a/opentrack/tracker.cpp +++ b/opentrack/tracker.cpp @@ -81,7 +81,12 @@ void Tracker::logic() if (!zero_) for (int i = 0; i < 6; i++) { - value(i) = newpose[i]; + auto& axis = m(i); + int k = axis.opts.src; + if (k < 0 || k >= 6) + value(i) = 0; + else + value(i) = newpose[k]; raw(i) = newpose[i]; } else @@ -157,23 +162,10 @@ void Tracker::logic() for (int i = 0; i < 6; i++) value[i] *= inverts[i] ? -1. : 1.; - Pose output_pose_; - - for (int i = 0; i < 6; i++) - { - auto& axis = m(i); - int k = axis.opts.src; - if (k < 0 || k >= 6) - output_pose_(i) = 0; - else - output_pose_(i) = value(k); - } - - - libs.pProtocol->pose(output_pose_); + libs.pProtocol->pose(value); QMutexLocker foo(&mtx); - output_pose = output_pose_; + output_pose = value; raw_6dof = raw; } |