From 0614b63dd5491ae7534d8f5ef91ccfc0831925c2 Mon Sep 17 00:00:00 2001
From: Mirko Waechter <mirko.waechter@kit.edu>
Date: Fri, 20 Oct 2017 18:40:30 +0200
Subject: [PATCH] removed unnecessary floor plane in IMU obs made function use
const ref instead of copy
---
.../components/units/InertialMeasurementUnitObserver.cpp | 4 ++--
.../components/units/InertialMeasurementUnitObserver.h | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
index 15400fb49..388f3939f 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.cpp
@@ -110,11 +110,11 @@ void InertialMeasurementUnitObserver::reportSensorValues(const std::string& devi
PosePtr posePtr = new Pose(orientationQuaternion->toEigen(), zero);
debugDrawerPrx->setPoseVisu("IMU", "orientation", posePtr);
- debugDrawerPrx->setBoxDebugLayerVisu("floor", new Pose(), new Vector3(5000, 5000, 1), DrawColor {0.7f, 0.7f, 0.7f, 1.0f});
+ // debugDrawerPrx->setBoxDebugLayerVisu("floor", new Pose(), new Vector3(5000, 5000, 1), DrawColor {0.7f, 0.7f, 0.7f, 1.0f});
}
}
-void InertialMeasurementUnitObserver::offerValue(std::string device, std::string fieldName, Vector3Ptr vec)
+void InertialMeasurementUnitObserver::offerValue(const std::string& device, const std::string& fieldName, const Vector3Ptr& vec)
{
offerOrUpdateDataField(device, fieldName, vec, fieldName + " values");
offerOrUpdateDataField(device, fieldName + "_x", vec->x, fieldName + "_x value");
diff --git a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
index 7d1a9c8d8..e72ce3227 100644
--- a/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
+++ b/source/RobotAPI/components/units/InertialMeasurementUnitObserver.h
@@ -87,7 +87,7 @@ namespace armarx
DebugDrawerInterfacePrx debugDrawerPrx;
- void offerValue(std::string device, std::string fieldName, Vector3Ptr vec);
+ void offerValue(const std::string& device, const std::string& fieldName, const Vector3Ptr& vec);
};
}
--
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