Changeset 19558

Timestamp:

11/16/06 18:46:40 (2 years ago)

Author:

aronb

Message:

- Try to use quaternions for rotation. This should still work with older hardware that does not support quaternions since we load the tracker state again after setting the values.

Files:

• juggler/trunk/modules/gadgeteer/drivers/Intersense/IntersenseAPI/IntersenseAPI.cpp (modified) (2 diffs)
• juggler/trunk/modules/gadgeteer/drivers/Intersense/IntersenseAPI/IntersenseAPIStandalone.h (modified) (1 diff)

juggler/trunk/modules/gadgeteer/drivers/Intersense/IntersenseAPI/IntersenseAPI.cpp

@@ -149 +149 @@
-      mTracker.loadConfigState(station_index);
-      mTracker.setState(station_index, mStations[i].enabled);
-
+
+
-      mTracker.setInputs(station_index,
-                         mStations[i].useDigital || mStations[i].useAnalog);
-      // Save the config state to the physical tracker.
-      mTracker.saveConfigState(station_index);
+      mTracker.loadConfigState(station_index);
-   }
-
@@ -264 +266 @@
-                               mTracker.zQuat( stationIndex ),
-                               mTracker.wQuat( stationIndex ));
-
+
+
+
+
+
-      }
-

juggler/trunk/modules/gadgeteer/drivers/Intersense/IntersenseAPI/IntersenseAPIStandalone.h

@@ -291 +291 @@
-   float xQuat(const unsigned int i) const
-   {
+      return mData.Station[i].Orientation[0];
+   }
+
+   /**
+    * Gets the y quaternion value of the i'th receiver. 
+    */
+   float yQuat(const unsigned int i) const
+   {
+      return mData.Station[i].Orientation[1];
+   }
+
+   /**
+    * Gets the z quaternion value of the i'th receiver. 
+    */
+   float zQuat(const unsigned int i) const
+   {
-      return mData.Station[i].Orientation[2];
-   }
-
-   /**
-    * Gets the y quaternion value of the i'th receiver. 
-    */
-   float yQuat(const unsigned int i) const
-   {
-      return mData.Station[i].Orientation[1];
-   }
-
-   /**
-    * Gets the z quaternion value of the i'th receiver. 
-    */
-   float zQuat(const unsigned int i) const
-   {
-      return mData.Station[i].Orientation[0];
-   }
-