Changeset 135 in flair-src for trunk/demos/CircleFollower

Timestamp:

02/13/17 11:38:33 (7 years ago)

Author:

Sanahuja Guillaume

Message:

VrpnObject no longer outputs Euler (ony Quaternion): warning, output matrix has changed!

File:

• trunk/demos/CircleFollower/uav/src/CircleFollower.cpp (modified) (3 diffs)

trunk/demos/CircleFollower/uav/src/CircleFollower.cpp

@@ -84 +84 @@
 const AhrsData *CircleFollower::GetOrientation(void) const {
     //get yaw from vrpn
-    Euler vrpnEuler;
-    uavVrpn->GetEuler(vrpnEuler);
+                Quaternion vrpnQuaternion;
+    uavVrpn->GetQuaternion(vrpnQuaternion);
 
     //get roll, pitch and w from imu
@@ -93 +93 @@
 
     Euler ahrsEuler=ahrsQuaternion.ToEuler();
-    ahrsEuler.yaw=vrpnEuler.yaw;
+    ahrsEuler.yaw=vrpnQuaternion.ToEuler().yaw;
     Quaternion mixQuaternion=ahrsEuler.ToQuaternion();
 
@@ -261 +261 @@
 
 void CircleFollower::VrpnPositionHold(void) {
-    Euler vrpn_euler;
-    Vector3D vrpn_pos;
-
-    uavVrpn->GetEuler(vrpn_euler);
-    yawHold=vrpn_euler.yaw;
-
-    uavVrpn->GetPosition(vrpn_pos);
-    vrpn_pos.To2Dxy(posHold);
+                Quaternion vrpnQuaternion;
+    uavVrpn->GetQuaternion(vrpnQuaternion);
+                yawHold=vrpnQuaternion.ToEuler().yaw;
+
+    Vector3D vrpnPosition;
+    uavVrpn->GetPosition(vrpnPosition);
+    vrpnPosition.To2Dxy(posHold);
 
     uX->Reset();