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fix wierd calibration effect due to low velocity filter
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6b12e17cfc
commit
b0fa26e390
1 changed files with 1 additions and 3 deletions
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@ -18,7 +18,7 @@ namespace controller {
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Pose LowVelocityFilter::apply(Pose newPose) const {
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Pose LowVelocityFilter::apply(Pose newPose) const {
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Pose finalPose = newPose;
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Pose finalPose = newPose;
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if (finalPose.isValid()) {
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if (finalPose.isValid() && _oldPose.isValid()) {
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float rotationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _rotationConstant)), 0.0f, 1.0f);
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float rotationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _rotationConstant)), 0.0f, 1.0f);
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float translationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _translationConstant)), 0.0f, 1.0f);
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float translationFilter = glm::clamp(1.0f - (glm::length(_oldPose.getVelocity() / _translationConstant)), 0.0f, 1.0f);
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finalPose.translation = _oldPose.getTranslation() * translationFilter + newPose.getTranslation() * (1.0f - translationFilter);
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finalPose.translation = _oldPose.getTranslation() * translationFilter + newPose.getTranslation() * (1.0f - translationFilter);
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@ -35,11 +35,9 @@ namespace controller {
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if (obj.contains(JSON_ROTATION) && obj.contains(JSON_TRANSLATION)) {
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if (obj.contains(JSON_ROTATION) && obj.contains(JSON_TRANSLATION)) {
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_rotationConstant = obj[JSON_ROTATION].toDouble();
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_rotationConstant = obj[JSON_ROTATION].toDouble();
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_translationConstant = obj[JSON_TRANSLATION].toDouble();
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_translationConstant = obj[JSON_TRANSLATION].toDouble();
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qDebug() << "--------->Successfully parsed low velocity filter";
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return true;
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return true;
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}
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}
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}
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}
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qDebug() << "--------->failed parsed low velocity filter";
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return false;
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return false;
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}
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}
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