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feat(src): determines whether the imu assembly parameter is null

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This commit is contained in:
Osenberg 2019-03-15 21:01:49 +08:00
parent fd551de04b
commit 2d1989fc2b
2 changed files with 39 additions and 2 deletions
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40
src/mynteye/device/motions.cc
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@ -169,7 +169,9 @@ Motions::motion_datas_t Motions::GetMotionDatas() {
}
void Motions::ProcImuAssembly(std::shared_ptr<ImuData> data) const {
if (nullptr == motion_intrinsics_) return;
if (nullptr == motion_intrinsics_ ||
IsNullAssemblyOrTempDrift(ProcessMode::PROC_IMU_ASSEMBLY))
return;
double dst[3][3] = {0};
if (data->flag == 1) {
@ -200,7 +202,9 @@ void Motions::ProcImuAssembly(std::shared_ptr<ImuData> data) const {
}
void Motions::ProcImuTempDrift(std::shared_ptr<ImuData> data) const {
if (nullptr == motion_intrinsics_) return;
if (nullptr == motion_intrinsics_ ||
IsNullAssemblyOrTempDrift(ProcessMode::PROC_IMU_TEMP_DRIFT))
return;
double temp = data->temperature;
if (data->flag == 1) {
@ -228,4 +232,36 @@ void Motions::EnableProcessMode(const std::int32_t& mode) {
proc_mode_ = mode;
}
bool Motions::IsNullAssemblyOrTempDrift(const ProcessMode& mode) const {
if (mode == ProcessMode::PROC_IMU_ASSEMBLY) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (motion_intrinsics_->accel.assembly[i][j] != 0.0)
return false;
}
}
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (motion_intrinsics_->gyro.assembly[i][j] != 0.0)
return false;
}
}
} else if (mode == ProcessMode::PROC_IMU_TEMP_DRIFT) {
for (int i = 0; i < 2; i++) {
if (motion_intrinsics_->accel.x[i] != 0.0 ||
motion_intrinsics_->accel.y[i] != 0.0 ||
motion_intrinsics_->accel.z[i] != 0.0)
return false;
}
for (int i = 0; i < 2; i++) {
if (motion_intrinsics_->gyro.x[i] != 0 ||
motion_intrinsics_->gyro.y[i] != 0 ||
motion_intrinsics_->gyro.z[i] != 0)
return false;
}
}
return true;
}
MYNTEYE_END_NAMESPACE

1
src/mynteye/device/motions.h
View File

@ -52,6 +52,7 @@ class Motions {
private:
void ProcImuAssembly(std::shared_ptr<ImuData> data) const;
void ProcImuTempDrift(std::shared_ptr<ImuData> data) const;
bool IsNullAssemblyOrTempDrift(const ProcessMode& mode) const;
std::shared_ptr<Channels> channels_;