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Update optical flow interface

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This commit is contained in:
kamilritz
2020-01-23 17:46:21 +01:00
committed by Roman Bapst
parent cafb1400fb
commit f3d790a664
12 changed files with 46 additions and 57 deletions
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test/sensor_simulator/flow.cpp
+8 -7
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@@ -16,21 +16,22 @@ Flow::~Flow()
void Flow::send(uint64_t time)
{
_flow_data.dt = time - _time_last_data_sent;
_ekf->setOpticalFlowData(time, &_flow_data);
_flow_data.time_us = time;
_ekf->setOpticalFlowData(_flow_data);
}
void Flow::setData(const flow_message& flow)
void Flow::setData(const flowSample& flow)
{
_flow_data = flow;
}
flow_message Flow::dataAtRest()
flowSample Flow::dataAtRest()
{
flow_message _flow_at_rest;
_flow_at_rest.dt = 20000;
_flow_at_rest.flowdata = Vector2f{0.0f, 0.0f};
_flow_at_rest.gyrodata = Vector3f{0.0f, 0.0f, 0.0f};
flowSample _flow_at_rest;
_flow_at_rest.dt = 0.02f;
_flow_at_rest.flow_xy_rad = Vector2f{0.0f, 0.0f};
_flow_at_rest.gyro_xyz = Vector3f{0.0f, 0.0f, 0.0f};
_flow_at_rest.quality = 255;
return _flow_at_rest;
}