Changeset 167 in flair-src for trunk/lib/FlairSensorActuator


Ignore:
Timestamp:
Apr 12, 2017, 1:59:38 PM (5 years ago)
Author:
Sanahuja Guillaume
Message:

modifs pour template vectors

Location:
trunk/lib/FlairSensorActuator/src
Files:
11 edited

Legend:

Unmodified
Added
Removed
  • trunk/lib/FlairSensorActuator/src/Gx3_25_imu_impl.cpp

    r157 r167  
    130130      eulerAngles.yaw = Dequeue(&buf);
    131131
    132       Vector3D filteredAngRates;
     132      Vector3Df filteredAngRates;
    133133      filteredAngRates.x = Dequeue(&buf);
    134134      filteredAngRates.y = Dequeue(&buf);
     
    143143      GetData(response, sizeof(response), &imuTime);
    144144
    145       Vector3D rawAcc;
     145      Vector3Df rawAcc;
    146146      rawAcc.x = 9.80665 * Dequeue(&buf);
    147147      rawAcc.y = 9.80665 * Dequeue(&buf);
    148148      rawAcc.z = 9.80665 * Dequeue(&buf);
    149149
    150       Vector3D filteredAngRates;
     150      Vector3Df filteredAngRates;
    151151      filteredAngRates.x = Dequeue(&buf);
    152152      filteredAngRates.y = Dequeue(&buf);
     
    178178      quaternion.q3 = Dequeue(&buf);
    179179
    180       Vector3D filteredAngRates;
     180      Vector3Df filteredAngRates;
    181181      filteredAngRates.x = 0;
    182182      filteredAngRates.y = 0;
  • trunk/lib/FlairSensorActuator/src/Imu.cpp

    r137 r167  
    6969    return;
    7070  }
    71   Vector3D rawAcc, rawMag, rawGyr;
     71  Vector3Df rawAcc, rawMag, rawGyr;
    7272  imuData->GetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
    7373  rotation->ComputeRotation(rawAcc);
  • trunk/lib/FlairSensorActuator/src/NmeaGps.cpp

    r137 r167  
    173173void NmeaGps::SetRef(void) { takeRef = true; }
    174174
    175 void NmeaGps::GetEnu(Vector3D *point) {
     175void NmeaGps::GetEnu(Vector3Df *point) {
    176176  gpsData->GetMutex();
    177177  gpsData->GetEnu(point->x,point->y,point->z);
  • trunk/lib/FlairSensorActuator/src/NmeaGps.h

    r137 r167  
    1515
    1616#include <IODevice.h>
     17#include <Vector3D.h>
    1718#include <nmea/nmea.h>
    1819
     
    2122    class FrameworkManager;
    2223    class GeoCoordinate;
    23     class Vector3D;
    2424    class GpsData;
    2525  }
     
    168168  * \param point to store position
    169169  */
    170   void GetEnu(core::Vector3D *point);
     170  void GetEnu(core::Vector3Df *point);
    171171
    172172protected:
  • trunk/lib/FlairSensorActuator/src/SimuImu.cpp

    r158 r167  
    107107    ahrsData->SetQuaternionAndAngularRates(
    108108        Quaternion(state.q0, state.q1, state.q2, state.q3),
    109         Vector3D(state.wx, state.wy, state.wz));
     109        Vector3Df(state.wx, state.wy, state.wz));
    110110
    111111    imuData->SetDataTime(GetTime());
  • trunk/lib/FlairSensorActuator/src/VrpnClient_impl.cpp

    r140 r167  
    104104}
    105105
    106 void VrpnClient_impl::ComputeRotations(Vector3D &point) {
     106void VrpnClient_impl::ComputeRotations(Vector3Df &point) {
    107107  rotation_1->ComputeRotation(point);
    108108  rotation_2->ComputeRotation(point);
  • trunk/lib/FlairSensorActuator/src/VrpnObject.cpp

    r157 r167  
    7777}
    7878
    79 void VrpnObject::GetPosition(Vector3D &point) const {
     79void VrpnObject::GetPosition(Vector3Df &point) const {
    8080  pimpl_->GetPosition(point);
    8181}
  • trunk/lib/FlairSensorActuator/src/VrpnObject.h

    r140 r167  
    1616
    1717#include <IODevice.h>
     18#include <Vector3D.h>
    1819#include <stdint.h>
    1920
     
    2122        namespace core {
    2223                class cvmatrix;
    23                 class Vector3D;
    2424                class Quaternion;
    2525        }
     
    110110  * \param point output datas
    111111  */
    112   void GetPosition(core::Vector3D &point) const;
     112  void GetPosition(core::Vector3Df &point) const;
    113113
    114114  /*!
  • trunk/lib/FlairSensorActuator/src/VrpnObject_impl.cpp

    r148 r167  
    129129}
    130130
    131 void VrpnObject_impl::GetPosition(Vector3D &point) {
     131void VrpnObject_impl::GetPosition(Vector3Df &point) {
    132132  output->GetMutex();
    133133  point.x = output->ValueNoMutex(4, 0);
     
    163163  // flair::core::Quaternion
    164164        Quaternion quaternion(t.quat[3],t.quat[0],t.quat[1],t.quat[2]);
    165   Vector3D pos((float)t.pos[0], (float)t.pos[1], (float)t.pos[2]);
     165  Vector3Df pos((float)t.pos[0], (float)t.pos[1], (float)t.pos[2]);
    166166
    167167  // on effectue les rotation
  • trunk/lib/FlairSensorActuator/src/unexported/VrpnClient_impl.h

    r140 r167  
    2121#include <string>
    2222#include <vector>
     23#include "Vector3D.h"
    2324
    2425namespace flair {
    2526namespace core {
    2627class OneAxisRotation;
    27 class Vector3D;
    2828class Quaternion;
    2929class Mutex;
     
    5454  void AddTrackable(VrpnObject_impl *obj, uint8_t id);  // xbee
    5555  void RemoveTrackable(VrpnObject_impl *obj);           // normal+xbee
    56   void ComputeRotations(flair::core::Vector3D &point);
     56  void ComputeRotations(flair::core::Vector3Df &point);
    5757  void ComputeRotations(flair::core::Quaternion &quat);
    5858  bool UseXbee(void);
  • trunk/lib/FlairSensorActuator/src/unexported/VrpnObject_impl.h

    r140 r167  
    2424#include <vrpn_Tracker.h>
    2525#include "Quaternion.h"
     26#include "Vector3D.h"
    2627
    2728namespace flair {
    2829        namespace core {
    2930                class cvmatrix;
    30                 class Vector3D;
    3131        }
    3232        namespace gui {
     
    5151
    5252  void GetQuaternion(flair::core::Quaternion &quaternion);
    53   void GetPosition(flair::core::Vector3D &point);
     53  void GetPosition(flair::core::Vector3Df &point);
    5454  bool IsTracked(unsigned int timeout_ms);
    5555
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