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53 lines
1.6 KiB
53 lines
1.6 KiB
#ifndef __OpticalFlow_backend_H__ |
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#define __OpticalFlow_backend_H__ |
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/* |
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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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/* |
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OpticalFlow backend class for ArduPilot |
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*/ |
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#include "OpticalFlow.h" |
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class OpticalFlow_backend |
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{ |
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friend class OpticalFlow; |
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public: |
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// constructor |
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OpticalFlow_backend(OpticalFlow &_frontend) : frontend(_frontend) {} |
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// init - initialise sensor |
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virtual void init() = 0; |
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// read latest values from sensor and fill in x,y and totals. |
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virtual void update() = 0; |
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protected: |
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// access to frontend |
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OpticalFlow &frontend; |
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// update the frontend |
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void _update_frontend(const struct OpticalFlow::OpticalFlow_state &state); |
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// get the flow scaling parameters |
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Vector2f _flowScaler(void) const { return Vector2f(frontend._flowScalerX, frontend._flowScalerY); } |
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// get the yaw angle in radians |
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float _yawAngleRad(void) const { return radians(float(frontend._yawAngle_cd) * 0.01f); } |
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}; |
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#endif // __OpticalFlow_backend_H__ |
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