From 3e5dddf12b451c468eaaecceafca78b2f70b8a9b Mon Sep 17 00:00:00 2001 From: Stanislaw Halik Date: Thu, 13 Apr 2017 13:50:57 +0200 Subject: logic/tracker: call center() before data() For real this time. Issue: #352 --- logic/tracker.cpp | 16 +++++++++------- 1 file changed, 9 insertions(+), 7 deletions(-) diff --git a/logic/tracker.cpp b/logic/tracker.cpp index bb207e22..029a64c6 100644 --- a/logic/tracker.cpp +++ b/logic/tracker.cpp @@ -126,6 +126,15 @@ void Tracker::logic() set(f_center, false); const bool own_center_logic = center_ordered && libs.pTracker->center(); + { + Pose tmp; + libs.pTracker->data(tmp); + + if (get(f_enabled)) + for (int i = 0; i < 6; i++) + newpose[i] = elide_nan(tmp(i), newpose(i)); + } + Pose value, raw; for (int i = 0; i < 6; i++) @@ -390,13 +399,6 @@ void Tracker::run() while (!get(f_should_quit)) { - Pose tmp; - libs.pTracker->data(tmp); - - if (get(f_enabled)) - for (int i = 0; i < 6; i++) - newpose[i] = elide_nan(tmp(i), newpose(i)); - logic(); static constexpr long const_sleep_us = 4000; -- cgit v1.2.3