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41 lines
1.5 KiB
41 lines
1.5 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_VisualOdom_Backend.h" |
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/* |
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base class constructor. |
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This incorporates initialisation as well. |
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*/ |
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AP_VisualOdom_Backend::AP_VisualOdom_Backend(AP_VisualOdom &frontend) : |
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_frontend(frontend) |
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{ |
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} |
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// set deltas (used by backend to update state) |
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void AP_VisualOdom_Backend::set_deltas(const Vector3f &angle_delta, const Vector3f& position_delta, uint64_t time_delta_usec, float confidence) |
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{ |
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// rotate and store angle_delta |
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_frontend._state.angle_delta = angle_delta; |
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_frontend._state.angle_delta.rotate((enum Rotation)_frontend._orientation.get()); |
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// rotate and store position_delta |
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_frontend._state.position_delta = position_delta; |
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_frontend._state.position_delta.rotate((enum Rotation)_frontend._orientation.get()); |
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_frontend._state.time_delta_usec = time_delta_usec; |
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_frontend._state.confidence = confidence; |
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_frontend._state.last_sensor_update_ms = AP_HAL::millis(); |
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}
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