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a/tracking: Fix conversion warnings

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Ryan Pavlik 2022-05-03 10:16:11 -05:00 committed by Jakob Bornecrantz
parent f0d5cc1670
commit f9b4af04e4
1 changed files with 4 additions and 3 deletions
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7
src/xrt/auxiliary/tracking/t_imu_fusion.hpp
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@ -214,7 +214,7 @@ SimpleIMUFusion::getPredictedQuat(timepoint_ns timestamp) const
return Eigen::Quaterniond::Identity();
}
time_duration_ns delta_ns = timestamp - state_time;
float dt = time_ns_to_s(delta_ns);
double dt = time_ns_to_s(delta_ns);
return quat_ * flexkalman::util::quat_exp(angVel_ * dt * 0.5);
}
inline bool
@ -227,13 +227,14 @@ SimpleIMUFusion::handleGyro(Eigen::Vector3d const &gyro, timepoint_ns timestamp)
"report");
return false;
}
time_duration_ns delta_ns = (last_gyro_timestamp_ == 0) ? 1e6 : timestamp - last_gyro_timestamp_;
time_duration_ns delta_ns =
(last_gyro_timestamp_ == 0) ? (time_duration_ns)1e6 : timestamp - last_gyro_timestamp_;
if (delta_ns > 1e10) {
SIMPLE_IMU_DEBUG("Clamping integration period");
// Limit integration to 1/10th of a second
// Does not affect updating the last gyro timestamp.
delta_ns = 1e10;
delta_ns = (time_duration_ns)1e10;
}
float dt = time_ns_to_s(delta_ns);
last_gyro_timestamp_ = timestamp;