The open source OpenXR runtime
a/tracking: Fix conversion warnings
authored by
Ryan Pavlik
and committed by
Jakob Bornecrantz
f9b4af04
f0d5cc16
+4
-3
+4
-3
src/xrt/auxiliary/tracking/t_imu_fusion.hpp
+4
-3
src/xrt/auxiliary/tracking/t_imu_fusion.hpp
···
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return Eigen::Quaterniond::Identity();
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}
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time_duration_ns delta_ns = timestamp - state_time;
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-
float dt = time_ns_to_s(delta_ns);
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double dt = time_ns_to_s(delta_ns);
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return quat_ * flexkalman::util::quat_exp(angVel_ * dt * 0.5);
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}
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inline bool
···
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"report");
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return false;
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}
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time_duration_ns delta_ns = (last_gyro_timestamp_ == 0) ? 1e6 : timestamp - last_gyro_timestamp_;
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time_duration_ns delta_ns =
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(last_gyro_timestamp_ == 0) ? (time_duration_ns)1e6 : timestamp - last_gyro_timestamp_;
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if (delta_ns > 1e10) {
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SIMPLE_IMU_DEBUG("Clamping integration period");
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// Limit integration to 1/10th of a second
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// Does not affect updating the last gyro timestamp.
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delta_ns = 1e10;
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delta_ns = (time_duration_ns)1e10;
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}
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float dt = time_ns_to_s(delta_ns);
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last_gyro_timestamp_ = timestamp;