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added motion axis stuff

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toni
2017-03-02 18:09:09 +01:00
parent 1adb74ec29
commit 09cef9c9aa
5 changed files with 136 additions and 303 deletions
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7
filter/Structs.h
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@@ -21,9 +21,11 @@ struct MyState : public WalkState, public WalkStateHeading, public WalkStateSpre
static Floorplan::IndoorMap* map;
float relativePressure = 0;
float relativePressure = 0.0f;
GridPoint positionOld;
MyState() : WalkState(GridPoint(0,0,0)), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}
MyState(GridPoint pos) : WalkState(pos), WalkStateHeading(Heading(0), 0), positionOld(0,0,0), relativePressure(0) {;}
@@ -53,6 +55,9 @@ struct MyControl {
/** number of steps since the last transition */
int numStepsSinceLastTransition = 0;
/** current motion delta angle*/
int motionDeltaAngle_rad = 0;
/** reset the control-data after each transition */
void resetAfterTransition() {
turnSinceLastTransition_rad = 0;