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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24
sensors/imu/MagnetometerData.h
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@@ -4,20 +4,21 @@
#include <cmath>
#include <sstream>
#include "../../math/Floatingpoint.h"
/**
* data received from a magnetometer sensor
*/
struct MagnetometerData {
float x;
float y;
float z;
FPDefault x;
FPDefault y;
FPDefault z;
MagnetometerData() : x(0), y(0), z(0) {;}
/** ctor from RADIANS */
MagnetometerData(const float x, const float y, const float z) : x(x), y(y), z(z) {;}
MagnetometerData(const FPDefault x, const FPDefault y, const FPDefault z) : x(x), y(y), z(z) {;}
std::string asString() const {
std::stringstream ss;
@@ -29,7 +30,7 @@ struct MagnetometerData {
return (x == x) && (y == y) && (z == z);
}
bool operator == (const GyroscopeData& o ) const {
bool operator == (const MagnetometerData& o ) const {
return EQ_OR_NAN(x, o.x) &&
EQ_OR_NAN(y, o.y) &&
EQ_OR_NAN(z, o.z);
@@ -53,22 +54,27 @@ struct MagnetometerData {
return *this;
}
MagnetometerData operator * (const MagnetometerData& o) const {
return MagnetometerData(x*o.x, y*o.y, z*o.z);
MagnetometerData operator + (const MagnetometerData& o) const {
return MagnetometerData(x+o.x, y+o.y, z+o.z);
}
MagnetometerData operator - (const MagnetometerData& o) const {
return MagnetometerData(x-o.x, y-o.y, z-o.z);
}
MagnetometerData operator / (const float val) const {
MagnetometerData operator * (const MagnetometerData& o) const {
return MagnetometerData(x*o.x, y*o.y, z*o.z);
}
MagnetometerData operator / (const FPDefault val) const {
return MagnetometerData(x/val, y/val, z/val);
}
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) );}
};