From d03152b3fe03c7234134b3b06b7facc1607c7609 Mon Sep 17 00:00:00 2001
From: Stanislaw Halik <sthalik@misaki.pl>
Date: Fri, 22 Jun 2018 13:02:34 +0200
Subject: logic/pipeline: remove rest of scaled_rotation
---
logic/pipeline.cpp | 26 +++++++++++---------------
logic/pipeline.hpp | 8 ++++----
2 files changed, 15 insertions(+), 19 deletions(-)
(limited to 'logic')
diff --git a/logic/pipeline.cpp b/logic/pipeline.cpp
index 6c00acb0..9c9f35a6 100644
--- a/logic/pipeline.cpp
+++ b/logic/pipeline.cpp
@@ -303,8 +303,7 @@ bool pipeline::maybe_enable_center_on_tracking_started()
void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic)
{
euler_t tmp = d2r * euler_t(&value[Yaw]);
- //scaled_rotation.rotation = euler_to_rmat(c_div * tmp);
- rotation.rotation = euler_to_rmat(tmp);
+ state.rotation = euler_to_rmat(tmp);
if (get(f_center | f_held_center))
{
@@ -313,17 +312,13 @@ void pipeline::maybe_set_center_pose(const Pose& value, bool own_center_logic)
if (own_center_logic)
{
- //scaled_rotation.rot_center = rmat::eye();
- rotation.inv_rot_center = rmat::eye();
-
- t_center = euler_t();
+ state.inv_rot_center = rmat::eye();
+ state.t_center = euler_t();
}
else
{
- rotation.inv_rot_center = rotation.rotation.t();
- //scaled_rotation.rot_center = scaled_rotation.rotation.t();
-
- t_center = euler_t((const double*)(value));
+ state.inv_rot_center = state.rotation.t();
+ state.t_center = euler_t((const double*)(value));
}
}
}
@@ -351,10 +346,10 @@ Pose pipeline::clamp_value(Pose value) const
Pose pipeline::apply_center(Pose value) const
{
- euler_t T = euler_t(value) - t_center;
- euler_t R = r2d * rmat_to_euler(rotation.rotation * rotation.inv_rot_center);
+ euler_t T = euler_t(value) - state.t_center;
+ euler_t R = r2d * rmat_to_euler(state.rotation * state.inv_rot_center);
- T = rel.rotate(rotation.inv_rot_center, T, vec3_bool());
+ T = rel.rotate(state.inv_rot_center, T, vec3_bool());
for (int i = 0; i < 3; i++)
{
@@ -575,9 +570,10 @@ void pipeline::run()
logic();
constexpr ns const_sleep_ms(time_cast<ns>(ms(4)));
- const ns elapsed_nsecs = prog1(t.elapsed<ns>(), t.start());
+ const ns elapsed_nsecs = t.elapsed<ns>();
+ t.start();
- if (backlog_time > secs_(3) || backlog_time < secs_(-3))
+ if (backlog_time > secs(3) || backlog_time < secs(-3))
{
qDebug() << "tracker: backlog interval overflow"
<< time_cast<ms>(backlog_time).count() << "ms";
diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
index 5db2a753..79042727 100644
--- a/logic/pipeline.hpp
+++ b/logic/pipeline.hpp
@@ -101,19 +101,19 @@ private:
// the logger while the tracker is running.
TrackLogger& logger;
- struct state
+ struct state_
{
rmat inv_rot_center;
rmat rotation;
+ euler_t t_center;
- state() : inv_rot_center(rmat::eye())
+ state_() : inv_rot_center(rmat::eye())
{}
};
reltrans rel;
- state rotation;
- euler_t t_center;
+ state_ state;
ns backlog_time = ns(0);
--
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