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52 lines
1.4 KiB
52 lines
1.4 KiB
/* |
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This program is free software: you can redistribute it and/or modify |
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it under the terms of the GNU General Public License as published by |
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the Free Software Foundation, either version 3 of the License, or |
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(at your option) any later version. |
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This program is distributed in the hope that it will be useful, |
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but WITHOUT ANY WARRANTY; without even the implied warranty of |
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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GNU General Public License for more details. |
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You should have received a copy of the GNU General Public License |
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along with this program. If not, see <http://www.gnu.org/licenses/>. |
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*/ |
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#include "AP_OpticalFlow.h" |
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#if AP_OPTICALFLOW_ENABLED |
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extern const AP_HAL::HAL& hal; |
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OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) : |
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frontend(_frontend) |
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{ |
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} |
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OpticalFlow_backend::~OpticalFlow_backend(void) |
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{ |
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} |
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// update the frontend |
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void OpticalFlow_backend::_update_frontend(const struct OpticalFlow::OpticalFlow_state &state) |
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{ |
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frontend.update_state(state); |
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} |
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// apply yaw angle to a vector |
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void OpticalFlow_backend::_applyYaw(Vector2f &v) |
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{ |
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float yawAngleRad = _yawAngleRad(); |
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if (is_zero(yawAngleRad)) { |
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return; |
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} |
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float cosYaw = cosf(yawAngleRad); |
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float sinYaw = sinf(yawAngleRad); |
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float x = v.x; |
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float y = v.y; |
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v.x = cosYaw * x - sinYaw * y; |
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v.y = sinYaw * x + cosYaw * y; |
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} |
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#endif
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