Changeset 167 in flair-src for trunk/demos/CircleFollower/uav

Timestamp:

Apr 12, 2017, 1:59:38 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

modifs pour template vectors

Location:

trunk/demos/CircleFollower/uav/src

Files:

• CircleFollower.cpp (modified) (7 diffs)
• CircleFollower.h (modified) (2 diffs)

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

@@ -89 +89 @@
     //get roll, pitch and w from imu
     Quaternion ahrsQuaternion;
-    Vector3D ahrsAngularSpeed;
+    Vector3Df ahrsAngularSpeed;
     GetDefaultOrientation()->GetQuaternionAndAngularRates(ahrsQuaternion, ahrsAngularSpeed);
 
@@ -101 +101 @@
 }
 
-void CircleFollower::AltitudeValues(float &z,float &dz) {
-    Vector3D uav_pos,uav_vel;
+void CircleFollower::AltitudeValues(float &z,float &dz) const{
+    Vector3Df uav_pos,uav_vel;
 
     uavVrpn->GetPosition(uav_pos);
@@ -112 +112 @@
 
 AhrsData *CircleFollower::GetReferenceOrientation(void) {
-    Vector2D pos_err, vel_err; // in Uav coordinate system
+    Vector2Df pos_err, vel_err; // in Uav coordinate system
     float yaw_ref;
     Euler refAngles;
@@ -128 +128 @@
     refAngles.roll=-uY->Output();
 
-    customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3D(0,0,0));
+    customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(),Vector3Df(0,0,0));
 
     return customReferenceOrientation;
 }
 
-void CircleFollower::PositionValues(Vector2D &pos_error,Vector2D &vel_error,float &yaw_ref) {
-    Vector3D uav_pos,uav_vel; // in VRPN coordinate system
-    Vector2D uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
+void CircleFollower::PositionValues(Vector2Df &pos_error,Vector2Df &vel_error,float &yaw_ref) {
+    Vector3Df uav_pos,uav_vel; // in VRPN coordinate system
+    Vector2Df uav_2Dpos,uav_2Dvel; // in VRPN coordinate system
 
     uavVrpn->GetPosition(uav_pos);
@@ -148 +148 @@
         yaw_ref=yawHold;
     } else { //Circle
-        Vector3D target_pos;
-        Vector2D circle_pos,circle_vel;
-        Vector2D target_2Dpos;
+        Vector3Df target_pos;
+        Vector2Df circle_pos,circle_vel;
+        Vector2Df target_2Dpos;
 
         targetVrpn->GetPosition(target_pos);
@@ -238 +238 @@
         return;
     }
-    Vector3D uav_pos,target_pos;
-    Vector2D uav_2Dpos,target_2Dpos;
+    Vector3Df uav_pos,target_pos;
+    Vector2Df uav_2Dpos,target_2Dpos;
 
     targetVrpn->GetPosition(target_pos);
@@ -265 +265 @@
                 yawHold=vrpnQuaternion.ToEuler().yaw;
 
-    Vector3D vrpnPosition;
+    Vector3Df vrpnPosition;
     uavVrpn->GetPosition(vrpnPosition);
     vrpnPosition.To2Dxy(posHold);

trunk/demos/CircleFollower/uav/src/CircleFollower.h

@@ -54 +54 @@
         void ExtraCheckJoystick(void);
         const flair::core::AhrsData *GetOrientation(void) const;
-        void AltitudeValues(float &z,float &dz);
-        void PositionValues(flair::core::Vector2D &pos_error,flair::core::Vector2D &vel_error,float &yaw_ref);
+        void AltitudeValues(float &z,float &dz) const;
+        void PositionValues(flair::core::Vector2Df &pos_error,flair::core::Vector2Df &vel_error,float &yaw_ref);
         flair::core::AhrsData *GetReferenceOrientation(void);
         void SignalEvent(Event_t event);
@@ -61 +61 @@
         flair::filter::Pid *uX, *uY;
 
-        flair::core::Vector2D posHold;
+        flair::core::Vector2Df posHold;
         float yawHold;