RoboidControl/RoboidControl-cpp
RoboidControl/RoboidControl-cpp
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Disabled perception update pose

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This commit is contained in:
Pascal Serrarens 2024-12-02 09:17:00 +01:00
parent 3132912afc
commit 5c5d8b3189
1 changed files with 3 additions and 5 deletions
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8
Roboid.cpp
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@ -49,13 +49,13 @@ void Roboid::Update(unsigned long currentTimeMs) {
SwingTwist16 rotation = SwingTwist16 rotation =
SwingTwist16::AngleAxis(this->angularVelocity.distance * deltaTime, SwingTwist16::AngleAxis(this->angularVelocity.distance * deltaTime,
this->angularVelocity.direction); this->angularVelocity.direction);
if (perception != nullptr) // if (perception != nullptr)
perception->UpdatePose(rotation); // perception->UpdatePose(rotation);
SetOrientation(this->orientation * rotation); SetOrientation(this->orientation * rotation);
} }
if (childCount > 0 && children != nullptr) { if (children != nullptr) {
for (unsigned char childIx = 0; childIx < this->childCount; childIx++) for (unsigned char childIx = 0; childIx < this->childCount; childIx++)
children[childIx]->Update(currentTimeMs); children[childIx]->Update(currentTimeMs);
} }
@ -108,12 +108,10 @@ void Roboid::AddChild(Thing *child) {
} }
} }
#include <Arduino.h>
void Passer::RoboidControl::Roboid::Release(Thing *child) { void Passer::RoboidControl::Roboid::Release(Thing *child) {
if (RemoveChild(child) != nullptr) { if (RemoveChild(child) != nullptr) {
child->position = this->position; child->position = this->position;
child->orientation = this->orientation; child->orientation = this->orientation;
printf("obj distance %f\n", child->position.distance);
this->perception->AddTrackedObject(nullptr, child); this->perception->AddTrackedObject(nullptr, child);
} }
} }