From ae522f8a06848d467c835d87772580fa7cceb5cd Mon Sep 17 00:00:00 2001 From: mwturvey Date: Wed, 8 Feb 2017 11:42:46 -0700 Subject: Replaced rotation algorithm & cleanup --- tools/lighthousefind_tori/tori_includes.h | 39 ++++++++++++++----------------- 1 file changed, 17 insertions(+), 22 deletions(-) (limited to 'tools/lighthousefind_tori/tori_includes.h') diff --git a/tools/lighthousefind_tori/tori_includes.h b/tools/lighthousefind_tori/tori_includes.h index 51cd04f..4cfbcdc 100644 --- a/tools/lighthousefind_tori/tori_includes.h +++ b/tools/lighthousefind_tori/tori_includes.h @@ -8,23 +8,23 @@ typedef struct { - double x; - double y; - double z; + double x; + double y; + double z; } Point; typedef struct { - Point point; // location of the sensor on the tracked object; - Point normal; // unit vector indicating the normal for the sensor - double theta; // "horizontal" angular measurement from lighthouse radians - double phi; // "vertical" angular measurement from lighthouse in radians. + Point point; // location of the sensor on the tracked object; + Point normal; // unit vector indicating the normal for the sensor + double theta; // "horizontal" angular measurement from lighthouse radians + double phi; // "vertical" angular measurement from lighthouse in radians. } TrackedSensor; typedef struct { - size_t numSensors; - TrackedSensor sensor[0]; + size_t numSensors; + TrackedSensor sensor[0]; } TrackedObject; @@ -36,15 +36,14 @@ typedef struct typedef union { - struct - { - unsigned char Blue; - unsigned char Green; - unsigned char Red; - unsigned char Alpha; - }; -// float float_value; - uint32_t long_value; + struct + { + unsigned char Blue; + unsigned char Green; + unsigned char Red; + unsigned char Alpha; + }; + uint32_t long_value; } RGBValue; static RGBValue RED = { .Red = 255, .Green = 0, .Blue = 0, .Alpha = 125 }; @@ -56,10 +55,6 @@ static const double WORLD_BOUNDS = 100; static const float DefaultPointsPerOuterDiameter = 60; - - - - //#define TORI_DEBUG #endif -- cgit v1.2.3