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Update setExtVisionData interface

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This commit is contained in:
kamilritz
2020-01-20 15:26:07 +01:00
committed by Mathieu Bresciani
parent ed916c8006
commit de33885658
5 changed files with 16 additions and 30 deletions
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test/sensor_simulator/vio.cpp
+5 -4
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@@ -15,10 +15,11 @@ Vio::~Vio()
void Vio::send(uint64_t time)
{
_ekf->setExtVisionData(time, &_vio_data);
_vio_data.time_us = time;
_ekf->setExtVisionData(_vio_data);
}
void Vio::setData(const ext_vision_message& vio_data)
void Vio::setData(const extVisionSample& vio_data)
{
_vio_data = vio_data;
}
@@ -53,9 +54,9 @@ void Vio::setOrientation(const Quatf& quat)
_vio_data.quat = quat;
}
ext_vision_message Vio::dataAtRest()
extVisionSample Vio::dataAtRest()
{
ext_vision_message vio_data;
extVisionSample vio_data;
vio_data.pos = Vector3f{0.0f, 0.0f, 0.0f};;
vio_data.vel = Vector3f{0.0f, 0.0f, 0.0f};;
vio_data.quat = Quatf{1.0f, 0.0f, 0.0f, 0.0f};