ardupilot/libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.cpp

53 lines
1.4 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_OpticalFlow.h"
#if AP_OPTICALFLOW_ENABLED
extern const AP_HAL::HAL& hal;
OpticalFlow_backend::OpticalFlow_backend(OpticalFlow &_frontend) :
frontend(_frontend)
{
}
OpticalFlow_backend::~OpticalFlow_backend(void)
{
}
// update the frontend
void OpticalFlow_backend::_update_frontend(const struct OpticalFlow::OpticalFlow_state &state)
{
frontend.update_state(state);
}
// apply yaw angle to a vector
void OpticalFlow_backend::_applyYaw(Vector2f &v)
{
float yawAngleRad = _yawAngleRad();
if (is_zero(yawAngleRad)) {
return;
}
float cosYaw = cosf(yawAngleRad);
float sinYaw = sinf(yawAngleRad);
float x = v.x;
float y = v.y;
v.x = cosYaw * x - sinYaw * y;
v.y = sinYaw * x + cosYaw * y;
}
#endif