Changeset 186 in flair-src for trunk/lib/FlairSimulator/src

Timestamp:

Jun 23, 2017, 5:33:03 PM (8 years ago)

Author:

Sanahuja Guillaume

Message:

maj imu

File:

• trunk/lib/FlairSimulator/src/Model_impl.cpp (modified) (3 diffs)

trunk/lib/FlairSimulator/src/Model_impl.cpp

@@ -114 +114 @@
   self->state[-2] = self->state[0];
 
-  cvmatrix_descriptor *desc = new cvmatrix_descriptor(13, 1);
+  cvmatrix_descriptor *desc = new cvmatrix_descriptor(19, 1);
   desc->SetElementName(0, 0, "q0");
   desc->SetElementName(1, 0, "q1");
@@ -128 +128 @@
   desc->SetElementName(11, 0, "vy");
   desc->SetElementName(12, 0, "vz");
+  desc->SetElementName(13, 0, "ax");
+  desc->SetElementName(14, 0, "ay");
+  desc->SetElementName(15, 0, "az");
+  desc->SetElementName(16, 0, "mx");
+  desc->SetElementName(17, 0, "my");
+  desc->SetElementName(18, 0, "mz");
   output = new cvmatrix(this, desc, floatType, "state");
   delete desc;
@@ -318 +324 @@
     output->SetValueNoMutex(11, 0, self->state[0].Vel.y);
     output->SetValueNoMutex(12, 0, self->state[0].Vel.z);
+    //todo: put acc and mag
+    output->SetValueNoMutex(13, 0, 0);
+    output->SetValueNoMutex(14, 0, 0);
+    output->SetValueNoMutex(15, 0, 0);
+    output->SetValueNoMutex(16, 0, 0);
+    output->SetValueNoMutex(17, 0, 0);
+    output->SetValueNoMutex(18, 0, 0);
     output->ReleaseMutex();
     output->SetDataTime(GetTime());