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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11
sensors/imu/GyroscopeData.h
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@@ -3,6 +3,7 @@
#include <cmath>
#include <sstream>
#include "../../math/Floatingpoint.h"
/**
* data received from a gyroscope sensor
@@ -10,14 +11,14 @@
*/
struct GyroscopeData {
float x;
float y;
float z;
FPDefault x;
FPDefault y;
FPDefault z;
GyroscopeData() : x(0), y(0), z(0) {;}
/** ctor from RADIANS */
GyroscopeData(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
GyroscopeData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}
float magnitude() const {
return std::sqrt( x*x + y*y + z*z );
@@ -41,7 +42,7 @@ struct GyroscopeData {
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) );}
};