Changeset 167 in flair-src for trunk/lib/FlairFilter/src/AhrsKalman_impl.cpp

Timestamp:

04/12/17 13:59:38 (6 years ago)

Author:

Sanahuja Guillaume

Message:

modifs pour template vectors

File:

• trunk/lib/FlairFilter/src/AhrsKalman_impl.cpp (modified) (2 diffs)

trunk/lib/FlairFilter/src/AhrsKalman_impl.cpp

@@ -86 +86 @@
     ImuData *input=(ImuData*)data;
     float delta_t;
-    Vector3D rawAcc,rawMag,rawGyr;
+    Vector3Df rawAcc,rawMag,rawGyr;
 
     input->GetRawAccMagAndGyr(rawAcc,rawMag,rawGyr);
@@ -115 +115 @@
 
         ahrsData->SetQuaternionAndAngularRates(euler.ToQuaternion(),
-                                               rawGyr-Vector3D(ars_roll.x_bias,ars_pitch.x_bias,0));
+                                               rawGyr-Vector3Df(ars_roll.x_bias,ars_pitch.x_bias,0));
     } else {
         is_init=true;