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fa5a00d871
* Refactor velocity reset * Add unit tests for velocity resets * Expand updates to vertical buffer to velocity resets outside of resetHeight * Improve matrix library usage * Improve naming of vertical output samples * Fix update of output_vert_new during reset * Improve naming of vertical output samples 2
37 lines
703 B
C++
37 lines
703 B
C++
#include "range_finder.h"
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namespace sensor_simulator
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{
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namespace sensor
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{
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RangeFinder::RangeFinder(std::shared_ptr<Ekf> ekf):Sensor(ekf)
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{
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}
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RangeFinder::~RangeFinder()
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{
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}
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void RangeFinder::send(uint64_t time)
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{
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_range_sample.time_us = time;
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_ekf->setRangeData(_range_sample);
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_ekf->set_rangefinder_limits(_min_distance, _max_distance);
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}
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void RangeFinder::setData(float range_data_meters, int8_t range_quality)
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{
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_range_sample.rng = range_data_meters;
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_range_sample.quality = range_quality;
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}
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void RangeFinder::setLimits(float min_distance_m, float max_distance_m)
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{
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_min_distance = min_distance_m;
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_max_distance = max_distance_m;
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}
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} // namespace sensor
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} // namespace sensor_simulator
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