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

Timestamp:

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

Author:

Sanahuja Guillaume

Message:

modifs pour template vectors

Location:

trunk/demos/Gps/uav/src

Files:

• DemoGps.cpp (modified) (4 diffs)
• DemoGps.h (modified) (2 diffs)

trunk/demos/Gps/uav/src/DemoGps.cpp

@@ -79 +79 @@
 
 AhrsData* DemoGps::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;
@@ -95 +95 @@
   refAngles.roll = -uY->Output();
 
-  customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(), Vector3D(0, 0, 0));
+  customReferenceOrientation->SetQuaternionAndAngularRates(refAngles.ToQuaternion(), Vector3Df(0, 0, 0));
 
   return customReferenceOrientation;
 }
 
-void DemoGps::PositionValues(Vector2D& pos_error, Vector2D& vel_error, float& yaw_ref) {
-  Vector3D uav_pos, uav_vel;
-  Vector2D uav_2Dpos, uav_2Dvel;
+void DemoGps::PositionValues(Vector2Df& pos_error, Vector2Df& vel_error, float& yaw_ref) {
+  Vector3Df uav_pos, uav_vel;
+  Vector2Df uav_2Dpos, uav_2Dvel;
 
   // TODO GPS position and circle center
@@ -116 +116 @@
     yaw_ref = yawHold;
   } else { // Circle
-    Vector2D circle_pos, circle_vel;
-    Vector2D target_2Dpos;
+    Vector2Df circle_pos, circle_vel;
+    Vector2Df target_2Dpos;
 
     circle->SetCenter(target_2Dpos);
@@ -190 +190 @@
     return;
   }
-  Vector3D uav_pos;
-  Vector2D uav_2Dpos, target_2Dpos;
+  Vector3Df uav_pos;
+  Vector2Df uav_2Dpos, target_2Dpos;
 
   circle->SetCenter(target_2Dpos);

trunk/demos/Gps/uav/src/DemoGps.h

@@ -51 +51 @@
         void ExtraCheckPushButton(void);
         void ExtraCheckJoystick(void);
-        void PositionValues(flair::core::Vector2D &pos_error,flair::core::Vector2D &vel_error,float &yaw_ref);
+        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);
@@ -57 +57 @@
         flair::filter::Pid *uX, *uY;
 
-        flair::core::Vector2D posHold;
+        flair::core::Vector2Df posHold;
         float yawHold;