Changeset 187 in flair-src

Timestamp:

Jul 4, 2017, 9:38:26 AM (7 years ago)

Author:

Sanahuja Guillaume

Message:

changement post/pre rotation

Location:

trunk/lib

Files:

• FlairCore/src/OneAxisRotation.cpp (modified) (1 diff)
• FlairCore/src/OneAxisRotation.h (modified) (2 diffs)
• FlairCore/src/OneAxisRotation_impl.cpp (modified) (4 diffs)
• FlairCore/src/unexported/OneAxisRotation_impl.h (modified) (2 diffs)
• FlairSensorActuator/src/Imu.cpp (modified) (1 diff)
• FlairSensorActuator/src/VrpnClient_impl.cpp (modified) (2 diffs)
• FlairVisionFilter/src/OpticalFlow.cpp (modified) (1 diff)

trunk/lib/FlairCore/src/OneAxisRotation.cpp

@@ -34 +34 @@
 template void OneAxisRotation::ComputeRotation(core::Vector3D<double> &) const;
   
-OneAxisRotation::OneAxisRotation(const gui::LayoutPosition *position,
-                                 string name)
+OneAxisRotation::OneAxisRotation(const gui::LayoutPosition *position,string name,RotationType_t rotationType)
     : gui::GroupBox(position, name) {
-  pimpl_ = new OneAxisRotation_impl(this);
+  pimpl_ = new OneAxisRotation_impl(this,(int)rotationType);
 }
 

trunk/lib/FlairCore/src/OneAxisRotation.h

@@ -37 +37 @@
 */
 class OneAxisRotation : public gui::GroupBox {
-public:
+  public:
+  /*!
+  \enum RotationType_t
+  \brief rotation type
+  */
+  enum RotationType_t {
+    PreRotation,//rotation
+    PostRotation//frame change
+  };
   /*!
   * \brief Constructor
@@ -46 +54 @@
   * \param name name
   */
-  OneAxisRotation(const gui::LayoutPosition *position, std::string namel);
+  OneAxisRotation(const gui::LayoutPosition *position, std::string name,RotationType_t rotationType);
 
   /*!

trunk/lib/FlairCore/src/OneAxisRotation_impl.cpp

@@ -17 +17 @@
 
 #include "OneAxisRotation_impl.h"
+#include "OneAxisRotation.h"
 #include "GroupBox.h"
 #include "ComboBox.h"
@@ -31 +32 @@
 template void OneAxisRotation_impl::ComputeRotation(Vector3D<double>&) const;
 
-OneAxisRotation_impl::OneAxisRotation_impl(GroupBox *box) {
+OneAxisRotation_impl::OneAxisRotation_impl(GroupBox *box,int rotationType) {
   rot_value =
       new DoubleSpinBox(box->NewRow(), "value", " deg", -180., 180., 10., 1);
@@ -38 +39 @@
   rot_axe->AddItem("y");
   rot_axe->AddItem("z");
+  this->rotationType=rotationType;
 }
 
@@ -45 +47 @@
   Quaternion rot;
   switch (rot_axe->CurrentIndex()) {
-    case 0:
-      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),sinf(Euler::ToRadian(rot_value->Value()/2)), 0,0);
+    case 0://x
+      rot=Quaternion(cosf(Euler::ToRadian(-rot_value->Value()/2)),sinf(Euler::ToRadian(-rot_value->Value()/2)),0,0);
       break;
-    case 1:
-      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),0,sinf(Euler::ToRadian(rot_value->Value()/2)),0);
+    case 1://y
+      rot=Quaternion(cosf(Euler::ToRadian(-rot_value->Value()/2)),0,sinf(Euler::ToRadian(-rot_value->Value()/2)),0);
       break;
-    case 2:
-      rot=Quaternion(cosf(Euler::ToRadian(rot_value->Value()/2)),0,0,sinf(Euler::ToRadian(rot_value->Value()/2)));
+    case 2://z
+      rot=Quaternion(cosf(Euler::ToRadian(-rot_value->Value()/2)),0,0,sinf(Euler::ToRadian(-rot_value->Value()/2)));
       break;
   }
-  quat=quat*rot;
+  if(rotationType==OneAxisRotation::RotationType_t::PreRotation) {
+    quat=rot*quat;
+  } else { //post rotation
+    quat=quat*rot;
+  }
 }
 

trunk/lib/FlairCore/src/unexported/OneAxisRotation_impl.h

@@ -35 +35 @@
 class OneAxisRotation_impl {
 public:
-  OneAxisRotation_impl(flair::gui::GroupBox *box);
+  OneAxisRotation_impl(flair::gui::GroupBox *box,int rotationType);
   ~OneAxisRotation_impl();
   template <typename T> void ComputeRotation(flair::core::Vector3D<T> &point) const;
@@ -47 +47 @@
   flair::gui::ComboBox *rot_axe;
   flair::gui::DoubleSpinBox *rot_value;
+  int rotationType;
 };
 

trunk/lib/FlairSensorActuator/src/Imu.cpp

@@ -41 +41 @@
   sensorTab = new Tab(tab, "Reglages");
   setupGroupbox = new GroupBox(sensorTab->NewRow(), name);
-  rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation");
+  rotation = new OneAxisRotation(sensorTab->NewRow(), "post rotation",OneAxisRotation::PostRotation);
   AddDataToLog(imuData);
 }

trunk/lib/FlairSensorActuator/src/VrpnClient_impl.cpp

@@ -56 +56 @@
   setup_tab = new Tab(tab, "Reglages");
 
-  rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1");
-  rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2");
+  rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1",OneAxisRotation::PreRotation);
+  rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2",OneAxisRotation::PreRotation);
 }
 
@@ -76 +76 @@
   setup_tab = new Tab(tab, "Reglages");
 
-  rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1");
-  rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2");
+  rotation_1 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 1",OneAxisRotation::PreRotation);
+  rotation_2 = new OneAxisRotation(setup_tab->NewRow(), "post rotation 2",OneAxisRotation::PreRotation);
 }
 

trunk/lib/FlairVisionFilter/src/OpticalFlow.cpp

@@ -54 +54 @@
 
     GroupBox* reglages_groupbox=new GroupBox(position,name);
-    rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"post rotation");
+    rotation=new OneAxisRotation(reglages_groupbox->NewRow(),"post rotation",OneAxisRotation::PostRotation);
     max_features=new SpinBox(reglages_groupbox->NewRow(),"max features:",1,65535,1,1);