/
Sangak
/
ardupilot
Обзор
Документация
Войти
/
Sangak
/
ardupilot
Код
Запросы
0
Задачи
Вики
Пакеты
0
Релизы
0
Аналитика
Безопасность
master
libraries/AP_OpticalFlow/AP_OpticalFlow_Backend.cpp
47 строк
1 KB
Peter Barker
AP_OpticalFlow: use vector rotate method
18 июл 2023, 04:19
18 июл 2023, 04:19
a3f43b2
Код
Авторство
О чём код?
/* 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(AP_OpticalFlow &_frontend) : frontend(_frontend) { } OpticalFlow_backend::~OpticalFlow_backend(void) { } // update the frontend void OpticalFlow_backend::_update_frontend(const struct AP_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; } v.rotate(yawAngleRad); } #endif