Changeset 20429

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Timestamp:
07/03/07 23:44:24 (1 year ago)
Author:
patrick
Message:

Back out r19558. Quaternion usage still doesn't behave quite right. I think
that what we should probably do is make the use of quaternions a configurable
parameter for the driver.

NOTE: IntersenseAPIStandalone.h was also modified in r19558, but that appears

to have been a bug fix that was mixed in with the behavior/feature
change of using quaternions. I have not backed out that change to
IntersenseAPIStandlone.h.

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  • juggler/branches/2.2/modules/gadgeteer/drivers/Intersense/IntersenseAPI/IntersenseAPI.cpp

    r19729 r20429  
    149149      mTracker.loadConfigState(station_index); 
    150150      mTracker.setState(station_index, mStations[i].enabled); 
    151       mTracker.setAngleFormat(station_index, ISD_QUATERNION); 
    152       //mTracker.setAngleFormat(station_index, ISD_EULER); 
     151      mTracker.setAngleFormat(station_index, ISD_EULER); 
    153152      mTracker.setInputs(station_index, 
    154153                         mStations[i].useDigital || mStations[i].useAnalog); 
    155154      // Save the config state to the physical tracker. 
    156155      mTracker.saveConfigState(station_index); 
    157       mTracker.loadConfigState(station_index); 
    158156   } 
    159157 
    …… 
    266264                               mTracker.zQuat( stationIndex ), 
    267265                               mTracker.wQuat( stationIndex )); 
    268          gmtl::setRot( cur_pos_samples[i].mPosData, quatValue ); 
    269          gmtl::setTrans( cur_pos_samples[i].mPosData, 
    270                          gmtl::Vec3f(mTracker.xPos( stationIndex ), 
    271                                      mTracker.yPos( stationIndex ), 
    272                                      mTracker.zPos( stationIndex )) ); 
     266         gmtl::set( cur_pos_samples[i].mPosData, quatValue ); 
    273267      } 
    274268