Further development of Inertialsensor demonstration

This commit is contained in:
2020-07-15 00:28:23 +02:00
parent ef9712215c
commit 6edc570a26
9 changed files with 215 additions and 33 deletions

View File

@@ -16,19 +16,26 @@ class ImuSerial
void stop();
glm::quat get_quaternion();
glm::vec3 get_accel();
glm::vec3 get_gyro();
const glm::mat4 get_rot_matrix();
private:
std::string serial_device;
unsigned int baud;
std::mutex quat_mutex;
std::mutex acc_mutex;
std::mutex gyr_mutex;
glm::quat quaternion;
glm::vec3 acc;
glm::vec3 gyr;
std::thread worker;
int stop_flag;
int fd;
friend void working_thread(ImuSerial *self);
friend void update_quaternion(ImuSerial *self, const glm::quat &quat);
friend void update_acc_value(ImuSerial *self, const glm::vec3 &acc);
friend void update_gyr_value(ImuSerial *self, const glm::vec3 &gyr);
};

View File

@@ -4,7 +4,7 @@
#include <string>
#include <epoxy/gl.h>
#include <opengl-playground/openglshader.hpp>
//#include <glm/glm.hpp>
#include <glm/glm.hpp>
#include <memory>
class OpenGlGraphics