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macro to find apropriate sign func depending on mrpt version

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Jeremie Deray
2017-06-22 21:22:24 +02:00
parent 7333f65490
commit 92b817eb17
1 changed files with 14 additions and 3 deletions
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13
src/CLaserOdometry2D.cpp
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@@ -835,7 +835,13 @@ void CLaserOdometry2D::filterLevelSolution()
if (acu_trans(0,0) > 1.f) if (acu_trans(0,0) > 1.f)
kai_loc_sub(2) = 0.f; kai_loc_sub(2) = 0.f;
else else
{
#if MRPT_VERSION>=0x130
kai_loc_sub(2) = -fps*acos(acu_trans(0,0))*mrpt::utils::sign(acu_trans(1,0));
#else
kai_loc_sub(2) = -fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0)); kai_loc_sub(2) = -fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0));
#endif
}
kai_loc_sub += kai_loc_old; kai_loc_sub += kai_loc_old;
Eigen::Matrix<float,3,1> kai_b_old; Eigen::Matrix<float,3,1> kai_b_old;
@@ -884,8 +890,13 @@ void CLaserOdometry2D::PoseUpdate()
if (acu_trans(0,0) > 1.f) if (acu_trans(0,0) > 1.f)
kai_loc(2) = 0.f; kai_loc(2) = 0.f;
else else
{
#if MRPT_VERSION>=0x130
kai_loc(2) = fps*acos(acu_trans(0,0))*mrpt::utils::sign(acu_trans(1,0));
#else
kai_loc(2) = fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0)); kai_loc(2) = fps*acos(acu_trans(0,0))*mrpt::math::sign(acu_trans(1,0));
#endif
}
//cout << endl << "Arc cos (incr tita): " << kai_loc(2); //cout << endl << "Arc cos (incr tita): " << kai_loc(2);
float phi = laser_pose.yaw(); float phi = laser_pose.yaw();