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41 lines
688 B
C++
41 lines
688 B
C++
#include "flow.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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Flow::Flow(std::shared_ptr<Ekf> ekf):Sensor(ekf)
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{
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}
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Flow::~Flow()
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{
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}
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void Flow::send(uint64_t time)
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{
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_flow_data.dt = static_cast<float>(time - _time_last_data_sent) * 1e-6f;
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_flow_data.time_us = time;
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_ekf->setOpticalFlowData(_flow_data);
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}
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void Flow::setData(const flowSample& flow)
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{
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_flow_data = flow;
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}
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flowSample Flow::dataAtRest()
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{
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flowSample _flow_at_rest;
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_flow_at_rest.dt = 0.02f;
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_flow_at_rest.flow_xy_rad = Vector2f{0.0f, 0.0f};
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_flow_at_rest.gyro_xyz = Vector3f{0.0f, 0.0f, 0.0f};
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_flow_at_rest.quality = 255;
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return _flow_at_rest;
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}
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} // namespace sensor
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} // namespace sensor_simulator
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