ardupilot/libraries/AP_IRLock/IRLock.cpp

54 lines
1.2 KiB
C++

/*
* IRLock.cpp
*
* Created on: Nov 12, 2014
* Author: MLandes
*/
#include "IRLock.h"
// default constructor
IRLock::IRLock() :
_last_update_ms(0),
_num_targets(0)
{
// clear target info
memset(_target_info, 0, sizeof(_target_info));
// will be adjusted when init is called
_flags.healthy = false;
}
IRLock::~IRLock() {}
// retrieve body frame x and y angles (in radians) to target
// returns true if data is available
bool IRLock::get_angle_to_target_rad(float &x_angle_rad, float &y_angle_rad) const
{
// return false if we have no target
if (_num_targets == 0) {
return false;
}
// use data from first (largest) object
x_angle_rad = atanf(_target_info[0].pos_x);
y_angle_rad = atanf(_target_info[0].pos_y);
return true;
}
// retrieve body frame unit vector in direction of target
// returns true if data is available
bool IRLock::get_unit_vector_body(Vector3f& ret) const
{
// return false if we have no target
if (_num_targets == 0) {
return false;
}
// use data from first (largest) object
ret.x = -_target_info[0].pos_y;
ret.y = _target_info[0].pos_x;
ret.z = 1.0f;
ret /= ret.length();
return true;
}