From 61592edd7b953c35167fb95f1d26aecc4e5c594a Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 5 Apr 2019 20:28:02 +0200
Subject: logic/pipeline: kill improper center mode

Issue: #912, #925
---
 logic/pipeline.hpp | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

(limited to 'logic/pipeline.hpp')

diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
index 1471b310..cf87dfca 100644
--- a/logic/pipeline.hpp
+++ b/logic/pipeline.hpp
@@ -97,7 +97,10 @@ class OTR_LOGIC_EXPORT pipeline : private QThread
 
     reltrans rel;
 
-    Pose center;
+    struct {
+        rmat inv_R = rmat::eye();
+        euler_t T;
+    } center;
 
     time_units::ns backlog_time {};
 
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