From 0948938ea70784b7b0607a709a199d1acefda949 Mon Sep 17 00:00:00 2001
From: Patrick Ruoff <c14-radioactive@19e81ba0-9b1a-49c3-bd6c-561e1906d5fb>
Date: Tue, 25 Sep 2012 17:02:38 +0000
Subject: Changed centering algorithm to use proper matrix algebra. Cleaned up
 T6DOF structure. Updated vc_9 project files.

git-svn-id: svn+ssh://svn.code.sf.net/p/facetracknoir/code@169 19e81ba0-9b1a-49c3-bd6c-561e1906d5fb
---
 FTNoIR_Tracker_Base/ftnoir_tracker_types.h | 53 +++++-------------------------
 1 file changed, 9 insertions(+), 44 deletions(-)

(limited to 'FTNoIR_Tracker_Base')

diff --git a/FTNoIR_Tracker_Base/ftnoir_tracker_types.h b/FTNoIR_Tracker_Base/ftnoir_tracker_types.h
index 93007b54..ace7a6e3 100644
--- a/FTNoIR_Tracker_Base/ftnoir_tracker_types.h
+++ b/FTNoIR_Tracker_Base/ftnoir_tracker_types.h
@@ -24,6 +24,7 @@
 *********************************************************************************/
 /*
 	Modifications (last one on top):
+		20120924 - C14: Moved T6DOF to separate file (not pulic interface)
 		20110415 - WVR: Added overloaded operator - and -=
 */
 #ifndef FTNOIR_TRACKER_TYPES_H
@@ -34,53 +35,17 @@
 //
 #pragma pack(push, 2)
 struct THeadPoseData {
-	double x, y, z, yaw, pitch, roll;
-	long frame_number;
-};
-#pragma pack(pop)
 
-//
-// Structure to hold all 6 DOF's
-//
-class T6DOF {
-public:
-	T6DOF( double x, double y, double z, 
-		   double yaw, double pitch, double roll ) {
-		position.x = x;
-		position.y = y;
-		position.z = z;
-		position.yaw = yaw;
-		position.pitch = pitch;
-		position.roll = roll;
-	}
+	THeadPoseData()
+		: x(0.0), y(0.0), z(0.0), yaw(0.0), pitch(0.0), roll(0.0), frame_number(0) {}
 
-	void initHeadPoseData(){
-		position.x = 0.0f;
-		position.y = 0.0f;
-		position.z = 0.0f;
-		position.yaw = 0.0f;
-		position.pitch = 0.0f;
-		position.roll = 0.0f;
-		position.frame_number = 0;
-	}
-	T6DOF operator-( T6DOF &other ) {
-		return T6DOF(position.x - other.position.x, position.y - other.position.y, position.z - other.position.z,
-			         position.yaw - other.position.yaw, position.pitch - other.position.pitch, position.roll - other.position.roll);
-	}
-	T6DOF operator-=( T6DOF &other ) {
-		return T6DOF(position.x - other.position.x, position.y - other.position.y, position.z - other.position.z,
-			         position.yaw - other.position.yaw, position.pitch - other.position.pitch, position.roll - other.position.roll);
-	}
-	T6DOF operator+( T6DOF &other ) {
-		return T6DOF(position.x + other.position.x, position.y + other.position.y, position.z + other.position.z,
-			         position.yaw + other.position.yaw, position.pitch + other.position.pitch, position.roll + other.position.roll);
-	}
-	T6DOF operator+=( T6DOF &other ) {
-		return T6DOF(position.x + other.position.x, position.y + other.position.y, position.z + other.position.z,
-			         position.yaw + other.position.yaw, position.pitch + other.position.pitch, position.roll + other.position.roll);
-	}
+	THeadPoseData(double x, double y, double z, 
+		double yaw, double pitch, double roll ) 
+		: x(x), y(y), z(z), yaw(yaw), pitch(pitch), roll(roll), frame_number(0) {}
 
-	THeadPoseData position;
+	double x, y, z, yaw, pitch, roll;
+	long frame_number;
 };
+#pragma pack(pop)
 
 #endif // FTNOIR_TRACKER_TYPES_H
-- 
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