Address comments
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2 changed files with 65 additions and 85 deletions
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@ -2,43 +2,26 @@
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namespace InputCommon {
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MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd) : kp(new_kp), ki(new_ki), kd(new_kd) {
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accel = {};
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gyro = {};
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gyro_drift = {};
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gyro_threshold = 0;
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rotations = {};
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MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd)
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: kp(new_kp), ki(new_ki), kd(new_kd), quat{{0, 0, -1}, 0} {}
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quat.w = 0;
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quat.xyz[0] = 0;
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quat.xyz[1] = 0;
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quat.xyz[2] = -1;
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real_error = {};
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integral_error = {};
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derivative_error = {};
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reset_counter = 0;
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reset_enabled = true;
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}
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void MotionInput::SetAcceleration(Common::Vec3f acceleration) {
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void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
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accel = acceleration;
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}
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void MotionInput::SetGyroscope(Common::Vec3f gyroscope) {
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void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
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gyro = gyroscope - gyro_drift;
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if (gyro.Length2() < gyro_threshold) {
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gyro = {};
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}
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}
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void MotionInput::SetQuaternion(Common::Quaternion<f32> quaternion) {
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void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
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quat = quaternion;
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}
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void MotionInput::SetGyroDrift(Common::Vec3f drift) {
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drift = gyro_drift;
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void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
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gyro_drift = drift;
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}
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void MotionInput::SetGyroThreshold(f32 threshold) {
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@ -53,11 +36,11 @@ void MotionInput::ResetRotations() {
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rotations = {};
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}
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bool MotionInput::IsMoving(f32 sensitivity) {
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bool MotionInput::IsMoving(f32 sensitivity) const {
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return gyro.Length2() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
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}
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bool MotionInput::IsCalibrated(f32 sensitivity) {
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bool MotionInput::IsCalibrated(f32 sensitivity) const {
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return real_error.Length() > sensitivity;
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}
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@ -67,30 +50,30 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
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void MotionInput::UpdateOrientation(u64 elapsed_time) {
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// Short name local variable for readability
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f32 q1 = quat.w, q2 = quat.xyz[0], q3 = quat.xyz[1], q4 = quat.xyz[2];
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f32 sample_period = elapsed_time / 1000000.0f;
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f32 q1 = quat.w;
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f32 q2 = quat.xyz[0];
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f32 q3 = quat.xyz[1];
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f32 q4 = quat.xyz[2];
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const f32 sample_period = elapsed_time / 1000000.0f;
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auto normal_accel = accel.Normalized();
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const auto normal_accel = accel.Normalized();
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auto rad_gyro = gyro * 3.1415926535f;
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rad_gyro.z = -rad_gyro.z;
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// Ignore drift correction if acceleration is not present
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if (normal_accel.Length() == 1.0f) {
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f32 ax = -normal_accel.x;
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f32 ay = normal_accel.y;
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f32 az = -normal_accel.z;
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f32 vx, vy, vz;
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Common::Vec3f new_real_error;
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const f32 ax = -normal_accel.x;
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const f32 ay = normal_accel.y;
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const f32 az = -normal_accel.z;
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// Estimated direction of gravity
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vx = 2.0f * (q2 * q4 - q1 * q3);
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vy = 2.0f * (q1 * q2 + q3 * q4);
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vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
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const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
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const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
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const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
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// Error is cross product between estimated direction and measured direction of gravity
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new_real_error.x = ay * vz - az * vy;
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new_real_error.y = az * vx - ax * vz;
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new_real_error.x = ax * vy - ay * vx;
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const Common::Vec3f new_real_error = {ay * vz - az * vy, az * vx - ax * vz,
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ax * vy - ay * vx};
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derivative_error = new_real_error - real_error;
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real_error = new_real_error;
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@ -108,15 +91,14 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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rad_gyro += kd * derivative_error;
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}
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f32 gx = rad_gyro.y;
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f32 gy = rad_gyro.x;
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f32 gz = rad_gyro.z;
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const f32 gx = rad_gyro.y;
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const f32 gy = rad_gyro.x;
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const f32 gz = rad_gyro.z;
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// Integrate rate of change of quaternion
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f32 pa, pb, pc;
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pa = q2;
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pb = q3;
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pc = q4;
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const f32 pa = q2;
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const f32 pb = q3;
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const f32 pc = q4;
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q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
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q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
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q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
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@ -129,41 +111,33 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
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quat = quat.Normalized();
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}
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std::array<Common::Vec3f, 3> MotionInput::GetOrientation() {
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std::array<Common::Vec3f, 3> orientation = {};
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Common::Quaternion<float> quad;
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std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
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const Common::Quaternion<float> quad{.xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
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.w = -quat.xyz[2]};
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const std::array<float, 16> matrix4x4 = quad.ToMatrix();
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quad.w = -quat.xyz[2];
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quad.xyz[0] = -quat.xyz[1];
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quad.xyz[1] = -quat.xyz[0];
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quad.xyz[2] = -quat.w;
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std::array<float, 16> matrix4x4 = quad.ToMatrix();
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orientation[0] = Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]);
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orientation[1] = Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]);
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orientation[2] = Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10]);
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return orientation;
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return {Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]),
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Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]),
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Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10])};
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}
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Common::Vec3f MotionInput::GetAcceleration() {
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Common::Vec3f MotionInput::GetAcceleration() const {
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return accel;
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}
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Common::Vec3f MotionInput::GetGyroscope() {
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Common::Vec3f MotionInput::GetGyroscope() const {
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return gyro;
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}
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Common::Quaternion<f32> MotionInput::GetQuaternion() {
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Common::Quaternion<f32> MotionInput::GetQuaternion() const {
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return quat;
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}
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Common::Vec3f MotionInput::GetRotations() {
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Common::Vec3f MotionInput::GetRotations() const {
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return rotations;
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}
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void MotionInput::resetOrientation() {
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void MotionInput::ResetOrientation() {
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if (!reset_enabled) {
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return;
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}
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@ -182,4 +156,4 @@ void MotionInput::resetOrientation() {
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reset_counter = 0;
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}
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}
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} // namespace InputCommon
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} // namespace InputCommon
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@ -14,10 +14,16 @@ class MotionInput {
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public:
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MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
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void SetAcceleration(Common::Vec3f acceleration);
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void SetGyroscope(Common::Vec3f acceleration);
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void SetQuaternion(Common::Quaternion<f32> quaternion);
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void SetGyroDrift(Common::Vec3f drift);
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MotionInput(const MotionInput&) = default;
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MotionInput& operator=(const MotionInput&) = default;
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MotionInput(MotionInput&&) = default;
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MotionInput& operator=(MotionInput&&) = default;
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void SetAcceleration(const Common::Vec3f& acceleration);
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void SetGyroscope(const Common::Vec3f& acceleration);
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void SetQuaternion(const Common::Quaternion<f32>& quaternion);
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void SetGyroDrift(const Common::Vec3f& drift);
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void SetGyroThreshold(f32 threshold);
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void EnableReset(bool reset);
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@ -26,23 +32,23 @@ public:
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void UpdateRotation(u64 elapsed_time);
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void UpdateOrientation(u64 elapsed_time);
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std::array<Common::Vec3f, 3> GetOrientation();
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Common::Vec3f GetAcceleration();
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Common::Vec3f GetGyroscope();
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Common::Vec3f GetRotations();
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Common::Quaternion<f32> GetQuaternion();
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std::array<Common::Vec3f, 3> GetOrientation() const;
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Common::Vec3f GetAcceleration() const;
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Common::Vec3f GetGyroscope() const;
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Common::Vec3f GetRotations() const;
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Common::Quaternion<f32> GetQuaternion() const;
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bool IsMoving(f32 sensitivity);
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bool IsCalibrated(f32 sensitivity);
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bool IsMoving(f32 sensitivity) const;
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bool IsCalibrated(f32 sensitivity) const;
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private:
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void ResetOrientation();
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// PID constants
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const f32 kp;
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const f32 ki;
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const f32 kd;
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private:
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void resetOrientation();
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// PID errors
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Common::Vec3f real_error;
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Common::Vec3f integral_error;
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@ -54,9 +60,9 @@ private:
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Common::Vec3f gyro;
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Common::Vec3f gyro_drift;
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f32 gyro_threshold;
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f32 reset_counter;
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bool reset_enabled;
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f32 gyro_threshold = 0.0f;
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f32 reset_counter = 0.0f;
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bool reset_enabled = true;
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};
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} // namespace InputCommon
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