FHWS/Indoor
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fixed some issues

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added new pose/turn detections
new helper classes
define-flags for libEigen
This commit is contained in:
FrankE
2018-09-04 10:49:00 +02:00
parent f990485d44
commit 857d7a1553
51 changed files with 2149 additions and 207 deletions
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29
sensors/imu/AccelerometerData.h
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@@ -3,20 +3,23 @@
#include <cmath>
#include <sstream>
#include "../../math/Floatingpoint.h"
/** data received from an accelerometer sensor */
struct AccelerometerData {
float x;
float y;
float z;
FPDefault x;
FPDefault y;
FPDefault z;
AccelerometerData() : x(0), y(0), z(0) {;}
AccelerometerData(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
AccelerometerData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}
float magnitude() const {
//AccelerometerData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}
FPDefault magnitude() const {
return std::sqrt( x*x + y*y + z*z );
}
@@ -34,22 +37,24 @@ struct AccelerometerData {
return *this;
}
AccelerometerData operator - (const AccelerometerData& o) const {
return AccelerometerData(x-o.x, y-o.y, z-o.z);
AccelerometerData operator + (const AccelerometerData o) const {
return AccelerometerData(x+o.x, y+o.y, z+o.z);
}
AccelerometerData operator / (const float val) const {
return AccelerometerData(x/val, y/val, z/val);
AccelerometerData operator - (const AccelerometerData& o) const {
return AccelerometerData(x-o.x, y-o.y, z-o.z);
}
AccelerometerData operator * (const float val) const {
return AccelerometerData(x*val, y*val, z*val);
}
AccelerometerData operator + (const AccelerometerData o) const {
return AccelerometerData(x+o.x, y+o.y, z+o.z);
AccelerometerData operator / (const float val) const {
return AccelerometerData(x/val, y/val, z/val);
}
std::string asString() const {
std::stringstream ss;
ss << "(" << x << "," << y << "," << z << ")";
@@ -68,7 +73,7 @@ struct AccelerometerData {
private:
static inline bool EQ_OR_NAN(const float a, const float b) {return (a==b) || ( (a!=a) && (b!=b) );}
static inline bool EQ_OR_NAN(const FPDefault a, const FPDefault b) {return (a==b) || ( (a!=a) && (b!=b) );}
};