ardupilot/libraries/AP_VisualOdom/AP_VisualOdom_Backend.cpp

42 lines
1.5 KiB
C++

/*
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "AP_VisualOdom_Backend.h"
/*
base class constructor.
This incorporates initialisation as well.
*/
AP_VisualOdom_Backend::AP_VisualOdom_Backend(AP_VisualOdom &frontend) :
_frontend(frontend)
{
}
// set deltas (used by backend to update state)
void AP_VisualOdom_Backend::set_deltas(const Vector3f &angle_delta, const Vector3f& position_delta, uint64_t time_delta_usec, float confidence)
{
// rotate and store angle_delta
_frontend._state.angle_delta = angle_delta;
_frontend._state.angle_delta.rotate((enum Rotation)_frontend._orientation.get());
// rotate and store position_delta
_frontend._state.position_delta = position_delta;
_frontend._state.position_delta.rotate((enum Rotation)_frontend._orientation.get());
_frontend._state.time_delta_usec = time_delta_usec;
_frontend._state.confidence = confidence;
_frontend._state.last_sensor_update_ms = AP_HAL::millis();
}