Line data    Source code

       1             : /*
       2             :    This program is free software: you can redistribute it and/or modify
       3             :    it under the terms of the GNU General Public License as published by
       4             :    the Free Software Foundation, either version 3 of the License, or
       5             :    (at your option) any later version.
       6             : 
       7             :    This program is distributed in the hope that it will be useful,
       8             :    but WITHOUT ANY WARRANTY; without even the implied warranty of
       9             :    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
      10             :    GNU General Public License for more details.
      11             : 
      12             :    You should have received a copy of the GNU General Public License
      13             :    along with this program.  If not, see <http://www.gnu.org/licenses/>.
      14             :  */
      15             : 
      16             : #include "AP_OpticalFlow.h"
      17             : 
      18             : #if AP_OPTICALFLOW_ENABLED
      19             : 
      20             : extern const AP_HAL::HAL& hal;
      21             : 
      22          14 : OpticalFlow_backend::OpticalFlow_backend(AP_OpticalFlow &_frontend) :
      23          14 :     frontend(_frontend)
      24             : {
      25          14 : }
      26             : 
      27           0 : OpticalFlow_backend::~OpticalFlow_backend(void)
      28             : {
      29           0 : }
      30             : 
      31             : // update the frontend
      32       10128 : void OpticalFlow_backend::_update_frontend(const struct AP_OpticalFlow::OpticalFlow_state &state)
      33             : {
      34       10128 :     frontend.update_state(state);
      35       10128 : }
      36             : 
      37             : // apply yaw angle to a vector
      38       10128 : void OpticalFlow_backend::_applyYaw(Vector2f &v)
      39             : {
      40       10128 :     float yawAngleRad = _yawAngleRad();
      41       10128 :     if (is_zero(yawAngleRad)) {
      42       10128 :         return;
      43             :     }
      44           0 :     v.rotate(yawAngleRad);
      45             : }
      46             : 
      47             : #endif