Changeset 173 in flair-src for trunk/lib/FlairSensorActuator/src/Imu.cpp

Timestamp:

Apr 26, 2017, 11:12:59 AM (7 years ago)

Author:

Sanahuja Guillaume

Message:

modif imu

File:

• trunk/lib/FlairSensorActuator/src/Imu.cpp (modified) (1 diff)

trunk/lib/FlairSensorActuator/src/Imu.cpp

@@ -64 +64 @@
 }
 
-void Imu::UpdateImu() {
+void Imu::ApplyRotation(Vector3Df& vector) {
   if (rotation == NULL) {
     Err("not applicable for simulation part.\n");
     return;
   }
-  Vector3Df rawAcc, rawMag, rawGyr;
-  imuData->GetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
-  rotation->ComputeRotation(rawAcc);
-  rotation->ComputeRotation(rawGyr);
-  rotation->ComputeRotation(rawMag);
-  imuData->SetRawAccMagAndGyr(rawAcc, rawMag, rawGyr);
+  rotation->ComputeRotation(vector);
+}
+
+void Imu::ApplyRotation(Quaternion& quaternion) {
+  if (rotation == NULL) {
+    Err("not applicable for simulation part.\n");
+    return;
+  }
+  rotation->ComputeRotation(quaternion);
 }