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| author | Justin Berger <j.david.berger@gmail.com> | 2018-03-18 23:15:54 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-03-20 16:09:07 -0600 |
| commit | 8ec5d7facc76e05859444335adbdbfd2bbbad852 (patch) | |
| tree | 9a07a479dadebe56365ad1affe3e55878aeecfb7 /include/libsurvive | |
| parent | 5cd3cca4191737ab4ae566975190c3b28bf11f2e (diff) | |
| download | libsurvive-8ec5d7facc76e05859444335adbdbfd2bbbad852.tar.gz libsurvive-8ec5d7facc76e05859444335adbdbfd2bbbad852.tar.bz2 | |
Added code to cancel out object rotation when calibrating
Diffstat (limited to 'include/libsurvive')
| -rw-r--r-- | include/libsurvive/poser.h | 3 | ||||
| -rw-r--r-- | include/libsurvive/survive.h | 7 |
2 files changed, 8 insertions, 2 deletions
diff --git a/include/libsurvive/poser.h b/include/libsurvive/poser.h index 6c74c52..9667f1a 100644 --- a/include/libsurvive/poser.h +++ b/include/libsurvive/poser.h @@ -31,8 +31,7 @@ typedef struct void PoserData_poser_raw_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose); void PoserData_lighthouse_pose_func(PoserData *poser_data, SurviveObject *so, uint8_t lighthouse, SurvivePose *pose); -typedef struct -{ +typedef struct PoserDataIMU { PoserData hdr; uint8_t datamask; //0 = accel present, 1 = gyro present, 2 = mag present. FLT accel[3]; diff --git a/include/libsurvive/survive.h b/include/libsurvive/survive.h index 180d83c..a3639dc 100644 --- a/include/libsurvive/survive.h +++ b/include/libsurvive/survive.h @@ -16,14 +16,21 @@ extern "C" { typedef struct { FLT angles[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // 2 Axes (Angles in LH space) uint32_t timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // Timecode per axis in ticks + + FLT accel[3]; + FLT gyro[3]; + FLT mag[3]; } SurviveSensorActivations; struct PoserDataLight; +struct PoserDataIMU; /** * Adds a lightData packet to the table. */ void SurviveSensorActivations_add(SurviveSensorActivations *self, struct PoserDataLight *lightData); +void SurviveSensorActivations_add_imu(SurviveSensorActivations *self, struct PoserDataIMU *imuData); + /** * Returns true iff both angles for the given sensor and lighthouse were seen at most `tolerance` ticks before the given * `timecode_now`. |