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39 lines
645 B
39 lines
645 B
#include "flow.h" |
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namespace sensor_simulator |
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{ |
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namespace sensor |
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{ |
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Flow::Flow(std::shared_ptr<Ekf> ekf):Sensor(ekf) |
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{ |
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} |
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Flow::~Flow() |
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{ |
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} |
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void Flow::send(uint64_t time) |
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{ |
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_flow_data.time_us = time; |
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_ekf->setOpticalFlowData(_flow_data); |
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} |
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void Flow::setData(const flowSample& flow) |
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{ |
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_flow_data = flow; |
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} |
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flowSample Flow::dataAtRest() |
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{ |
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flowSample flow_at_rest; |
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flow_at_rest.dt = static_cast<float>(_update_period) * 1e-6f; |
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flow_at_rest.flow_xy_rad = Vector2f{0.0f, 0.0f}; |
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flow_at_rest.gyro_xyz = Vector3f{0.0f, 0.0f, 0.0f}; |
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flow_at_rest.quality = 255; |
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return flow_at_rest; |
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} |
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} // namespace sensor |
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} // namespace sensor_simulator
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