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