Diff: Correction.cpp

Revision:

41:367cab0162de

Parent:

40:bdd949fc3bc2

Child:

44:9636cea17b3b

--- a/Correction.cpp	Thu Dec 11 10:18:48 2014 +0000
+++ b/Correction.cpp	Thu Dec 11 12:08:27 2014 +0000
@@ -5,25 +5,25 @@
     count = 0;
     initTime = 100;
     alpha = 0.1;
-    correction = new Glove;
-    corrected = new Glove;
+    //correction = new Glove;
+    //corrected = new Glove;
     //Initialize correction values to 0
-    correction->roll = 0.0;
-    correction->pitch = 0.0;
-    correction->yaw = 0.0;
+    correction.roll = 0.0;
+    correction.pitch = 0.0;
+    correction.yaw = 0.0;
     for (int i = 0; i < 5; i++)
-        correction->fingers[i] = 0.0;
-    corrected->roll = 0.0;
-    corrected->pitch = 0.0;
-    corrected->yaw = 0.0;
+        correction.fingers[i] = 0.0;
+    corrected.roll = 0.0;
+    corrected.pitch = 0.0;
+    corrected.yaw = 0.0;
     for (int i = 0; i < 5; i++)
-        corrected->fingers[i] = 0.0;
+        corrected.fingers[i] = 0.0;
 }
 
 Correction::~Correction()
 {
-    delete(correction);
-    delete(corrected);
+    //delete(correction);
+    //delete(corrected);
 }
 
 Glove Correction::Correct(Glove gloveData)
@@ -34,20 +34,20 @@
         Train(gloveData);
     }
     else {
-        corrected->roll = alpha*(gloveData.roll - correction->roll) + (1.0-alpha)*corrected->roll;
-        corrected->pitch = alpha*(gloveData.pitch - correction->pitch) + (1.0-alpha)*corrected->pitch;
-        corrected->yaw = alpha*(gloveData.yaw - correction->yaw) + (1.0-alpha)*corrected->yaw;
+        corrected.roll = alpha*(gloveData.roll - correction.roll) + (1.0-alpha)*corrected.roll;
+        corrected.pitch = alpha*(gloveData.pitch - correction.pitch) + (1.0-alpha)*corrected.pitch;
+        corrected.yaw = alpha*(gloveData.yaw - correction.yaw) + (1.0-alpha)*corrected.yaw;
         for (int iter = 0; iter < 5; iter++)
-            corrected->fingers[iter] = alpha*(gloveData.fingers[iter] - correction->fingers[iter]) + (1.0-alpha)*corrected->fingers[iter];
+            corrected.fingers[iter] = alpha*(gloveData.fingers[iter] - correction.fingers[iter]) + (1.0-alpha)*corrected.fingers[iter];
     }
-    return *corrected;
+    return corrected;
 }
 
 void Correction::Train(Glove gloveData)
 {
-    correction->roll = (correction->roll*count + gloveData.roll)/(count+1);
-    correction->pitch = (correction->pitch*count + gloveData.pitch)/(count+1);
-    correction->yaw = (correction->yaw*count + gloveData.yaw)/(count+1);
+    correction.roll = (correction.roll*count + gloveData.roll)/(count+1);
+    correction.pitch = (correction.pitch*count + gloveData.pitch)/(count+1);
+    correction.yaw = (correction.yaw*count + gloveData.yaw)/(count+1);
     for (int iter = 0; iter < 5; iter++)
-        correction->fingers[iter] = (correction->fingers[iter]*count + gloveData.fingers[iter])/(count+1);
+        correction.fingers[iter] = (correction.fingers[iter]*count + gloveData.fingers[iter])/(count+1);
 }
\ No newline at end of file