You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
39 lines
596 B
39 lines
596 B
5 years ago
|
#include "flow.h"
|
||
|
|
|
||
|
|
namespace sensor_simulator
|
||
|
|
{
|
||
|
|
namespace sensor
|
||
|
|
{
|
||
|
|
|
||
|
|
Flow::Flow(std::shared_ptr<Ekf> ekf):Sensor(ekf)
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
Flow::~Flow()
|
||
|
|
{
|
||
|
|
}
|
||
|
|
|
||
|
|
void Flow::send(uint32_t time)
|
||
|
|
{
|
||
|
|
_ekf->setOpticalFlowData(time, &_flow_data);
|
||
|
|
}
|
||
|
|
|
||
|
|
void Flow::setData(const flow_message& flow)
|
||
|
|
{
|
||
|
|
_flow_data = flow;
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
flow_message Flow::dataAtRest()
|
||
|
|
{
|
||
|
|
flow_message _flow_at_rest;
|
||
|
|
_flow_at_rest.dt = 20000;
|
||
|
|
_flow_at_rest.flowdata = Vector2f{0.0f, 0.0f};
|
||
|
|
_flow_at_rest.gyrodata = Vector3f{0.0f, 0.0f, 0.0f};
|
||
|
|
_flow_at_rest.quality = 255;
|
||
|
|
return _flow_at_rest;
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace sensor
|
||
|
|
} // namespace sensor_simulator
|