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fix wierd calibration effect due to low velocity filter

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This commit is contained in:
Dante Ruiz 2017-05-16 16:38:01 +01:00
parent 6b12e17cfc
commit b0fa26e390
1 changed files with 1 additions and 3 deletions
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4
libraries/controllers/src/controllers/impl/filters/LowVelocityFilter.cpp
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@ -18,7 +18,7 @@ namespace controller {
Pose LowVelocityFilter::apply(Pose newPose) const { Pose LowVelocityFilter::apply(Pose newPose) const {
Pose finalPose = newPose; Pose finalPose = newPose;
if (finalPose.isValid()) { if (finalPose.isValid() && _oldPose.isValid()) {
float rotationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _rotationConstant)), 0.0f, 1.0f); float rotationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _rotationConstant)), 0.0f, 1.0f);
float translationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _translationConstant)), 0.0f, 1.0f); float translationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _translationConstant)), 0.0f, 1.0f);
finalPose.translation = _oldPose.getTranslation() * translationFilter + newPose.getTranslation() * (1.0f - translationFilter); finalPose.translation = _oldPose.getTranslation() * translationFilter + newPose.getTranslation() * (1.0f - translationFilter);
@ -35,11 +35,9 @@ namespace controller {
if (obj.contains(JSON_ROTATION) && obj.contains(JSON_TRANSLATION)) { if (obj.contains(JSON_ROTATION) && obj.contains(JSON_TRANSLATION)) {
_rotationConstant = obj[JSON_ROTATION].toDouble(); _rotationConstant = obj[JSON_ROTATION].toDouble();
_translationConstant = obj[JSON_TRANSLATION].toDouble(); _translationConstant = obj[JSON_TRANSLATION].toDouble();
qDebug() << "--------->Successfully parsed low velocity filter";
return true; return true;
} }
} }
qDebug() << "--------->failed parsed low velocity filter";
return false; return false;
} }