From 40a00851315e193f19ab71e516fbb4c135f44f03 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Tue, 9 Aug 2016 11:39:46 +0200
Subject: logic/tracker: simplify

- no need to declare "inverts" as an array. it's used in only one place
- class Pose is redundant, use an alias for Mat<...>
- declare static constexpr const for logger stuff
---
 opentrack-logic/tracker.cpp | 19 +++++--------------
 opentrack-logic/tracker.h   | 19 +------------------
 2 files changed, 6 insertions(+), 32 deletions(-)

diff --git a/opentrack-logic/tracker.cpp b/opentrack-logic/tracker.cpp
index f36591e4..746a29f4 100644
--- a/opentrack-logic/tracker.cpp
+++ b/opentrack-logic/tracker.cpp
@@ -115,15 +115,6 @@ constexpr double Tracker::c_div;
 
 void Tracker::logic()
 {
-    bool inverts[6] = {
-        m(0).opts.invert,
-        m(1).opts.invert,
-        m(2).opts.invert,
-        m(3).opts.invert,
-        m(4).opts.invert,
-        m(5).opts.invert,
-    };
-
     using namespace euler;
 
     Pose value, raw;
@@ -255,7 +246,7 @@ void Tracker::logic()
             value(i) += m(i).opts.zero;
 
         for (int i = 0; i < 6; i++)
-            value(i) *= int(inverts[i]) * -2 + 1;
+            value(i) *= int(m(i).opts.invert) * -2 + 1;
 
         if (zero_)
             for (int i = 0; i < 6; i++)
@@ -314,13 +305,13 @@ void Tracker::run()
 #endif
 
     {
-        const char* posechannels[6] = { "TX", "TY", "TZ", "Yaw", "Pitch", "Roll" };
-        const char* datachannels[5] = { "dt", "raw", "corrected", "filtered", "mapped" };
+        static constexpr const char* posechannels[6] = { "TX", "TY", "TZ", "Yaw", "Pitch", "Roll" };
+        static constexpr const char* datachannels[5] = { "dt", "raw", "corrected", "filtered", "mapped" };
         logger.write(datachannels[0]);
         char buffer[128];
-        for (int j = 1; j < 5; ++j)
+        for (unsigned j = 1; j < 5; ++j)
         {
-            for (int i = 0; i < 6; ++i)
+            for (unsigned i = 0; i < 6; ++i)
             {
                 snprintf(buffer, 128, "%s%s", datachannels[j], posechannels[i]);
                 logger.write(buffer);
diff --git a/opentrack-logic/tracker.h b/opentrack-logic/tracker.h
index 09aca424..58b478bb 100644
--- a/opentrack-logic/tracker.h
+++ b/opentrack-logic/tracker.h
@@ -27,24 +27,7 @@
 
 #include "export.hpp"
 
-class Pose
-{
-private:
-    static constexpr double pi = OPENTRACK_PI;
-    static constexpr double d2r = pi/180.0;
-    static constexpr double r2d = 180./pi;
-
-    double axes[6];
-public:
-    Pose() : axes {0,0,0, 0,0,0} {}
-    Pose(double x, double y, double z, double yaw, double pitch, double roll) : axes { x, y, z, yaw, pitch, roll } {}
-
-    inline operator double*() { return axes; }
-    inline operator const double*() const { return axes; }
-
-    inline double& operator()(int i) { return axes[i]; }
-    inline double operator()(int i) const { return axes[i]; }
-};
+using Pose = Mat<double, 6, 1>;
 
 class OPENTRACK_LOGIC_EXPORT Tracker : private QThread
 {
-- 
cgit v1.2.3