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mathlib: Vector class major cleanup

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This commit is contained in:
Anton Babushkin
2013-12-24 23:56:28 +04:00
parent a26e46bede
commit 9dfe366e90
7 changed files with 210 additions and 193 deletions
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6
src/modules/sensors/sensors.cpp
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@@ -465,8 +465,6 @@ Sensors::Sensors() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
_board_rotation(),
_external_mag_rotation(),
_mag_is_external(false)
{
@@ -920,7 +918,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
math::Vector<3> vect = {accel_report.x, accel_report.y, accel_report.z};
math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
raw.accelerometer_m_s2[0] = vect(0);
@@ -946,7 +944,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
math::Vector<3> vect = {gyro_report.x, gyro_report.y, gyro_report.z};
math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
raw.gyro_rad_s[0] = vect(0);