Diff: DataGlove.cpp

Revision:

41:367cab0162de

Parent:

37:996bd22a633f

Child:

42:4e1aaab14886

--- a/DataGlove.cpp	Thu Dec 11 10:18:48 2014 +0000
+++ b/DataGlove.cpp	Thu Dec 11 12:08:27 2014 +0000
@@ -9,23 +9,14 @@
 DataGlove::DataGlove()
 {
     notConnectedCount = 0;
-    gl = new Glove;
-    correction = new Glove;
-    corrected = new Glove;
     ReceiveCount = 0;
     numReceived = 0;
     NewData = false;
-    //Initialize correction values to 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;
 }
 
 DataGlove::~DataGlove()
 {
-    delete(gl);
+    //delete(gl);
 }
 
 void DataGlove::Init()
@@ -62,7 +53,7 @@
 Glove DataGlove::ReceiveBlocking()
 {
     while(Receive() == false);
-    return *gl;
+    return gl;
 }
 
 bool DataGlove::Receive()
@@ -169,7 +160,7 @@
     k += 4;
     for (y = 0; y < 5; y++) 
     {
-        gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k + 1]);
+        gl.fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k + 1]);
         k += 2;
     }
     q00 = q0 / 32768.0;
@@ -184,10 +175,10 @@
     pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
     yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
 
-    gl->roll = roll;
-    gl->pitch = pitch;
-    gl->yaw = yaw;
-    gl->lastPkgTime = timeOfArrival;
+    gl.roll = roll;
+    gl.pitch = pitch;
+    gl.yaw = yaw;
+    gl.lastPkgTime = timeOfArrival;
 
 }
 void DataGlove::ExtractQuat()
@@ -203,7 +194,7 @@
     k += 4;
     for (y = 0; y < 5; y++) 
     {
-        gl->fingers[y] = 0.0;
+        gl.fingers[y] = 0.0;
     }
     q00 = q0 / 32768.0;
     q11 = q1 / 32768.0;
@@ -216,10 +207,10 @@
     pitch = 180.0 * asin(2 * (q00 * q22 - q33 * q11)) / 3.1415;
     yaw = 180.0 * atan2(2 * (q00 * q33 + q11 * q22), 1 - 2 * (q22 * q22 + q33 * q33)) / 3.1415;
 
-    gl->roll = roll;
-    gl->pitch = pitch;
-    gl->yaw = yaw;
-    gl->lastPkgTime = timeOfArrival;
+    gl.roll = roll;
+    gl.pitch = pitch;
+    gl.yaw = yaw;
+    gl.lastPkgTime = timeOfArrival;
 
 }
 
@@ -228,86 +219,86 @@
     k = 7;
     for (j = 0; j < 3; j++)
     {
-        gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
-        if (gl->gyro[j] > 0x7fff) 
-            gl->gyro[j] -= 0x10000;
+        gl.gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
+        if (gl.gyro[j] > 0x7fff) 
+            gl.gyro[j] -= 0x10000;
         k += 2;
     }
     for (j = 0; j < 3; j++)
     {
-        gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
-        if (gl->magn[j] > 0x7fff) 
-            gl->magn[j] -= 0x10000;
+        gl.magn[j] = (buffer[k] << 8) + (buffer[k+1]);
+        if (gl.magn[j] > 0x7fff) 
+            gl.magn[j] -= 0x10000;
         k += 2;
     }
     for (j = 0; j < 3; j++)
     {
-        gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
-        if (gl->accel[j]>0x7fff) 
-            gl->accel[j] -= 0x10000;
+        gl.accel[j] = (buffer[k] << 8) + (buffer[k+1]);
+        if (gl.accel[j]>0x7fff) 
+            gl.accel[j] -= 0x10000;
         k += 2;
     }
     for (y = 0; y < 5; y++)
     {
-        gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
+        gl.fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
         k += 2;
     }
 
-    gl->roll = 0.0;
-    gl->pitch = 0.0;
-    gl->yaw = 0.0;
-    gl->lastPkgTime = timeOfArrival;
+    gl.roll = 0.0;
+    gl.pitch = 0.0;
+    gl.yaw = 0.0;
+    gl.lastPkgTime = timeOfArrival;
 }
 
 void DataGlove::ExtractRaw()
 {
     k = 7;
     for (j = 0; j < 3; j++){
-        gl->gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
-        if (gl->gyro[j] > 0x7fff) 
-            gl->gyro[j] -= 0x10000;
+        gl.gyro[j] = (buffer[k] << 8) + (buffer[k+1]);
+        if (gl.gyro[j] > 0x7fff) 
+            gl.gyro[j] -= 0x10000;
         k += 2;
     }
     for (j = 0; j < 3; j++){
-        gl->magn[j] = (buffer[k] << 8) + (buffer[k+1]);
-        if (gl->magn[j] > 0x7fff) 
-            gl->magn[j] -= 0x10000;
+        gl.magn[j] = (buffer[k] << 8) + (buffer[k+1]);
+        if (gl.magn[j] > 0x7fff) 
+            gl.magn[j] -= 0x10000;
         k += 2;
     }
     for (j = 0; j < 3; j++){
-        gl->accel[j] = (buffer[k] << 8) + (buffer[k+1]);
-        if (gl->accel[j] > 0x7fff) 
-            gl->accel[j] -= 0x10000;
+        gl.accel[j] = (buffer[k] << 8) + (buffer[k+1]);
+        if (gl.accel[j] > 0x7fff) 
+            gl.accel[j] -= 0x10000;
         k += 2;
     }
     int y = 0;
     for (y = 0; y < 5; y++){
-        gl->fingers[y] = 0.0;
+        gl.fingers[y] = 0.0;
     }
     
-    gl->roll = 0.0;
-    gl->pitch = 0.0;
-    gl->yaw = 0.0;
-    gl->lastPkgTime = timeOfArrival;
+    gl.roll = 0.0;
+    gl.pitch = 0.0;
+    gl.yaw = 0.0;
+    gl.lastPkgTime = timeOfArrival;
 }
 
 void DataGlove::ExtractFingers()
 {
     k = 7;
     for (y = 0; y < 5; y++){
-        gl->fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
+        gl.fingers[y] = 0.1 * ((buffer[k] << 8) + buffer[k+1]);
         k += 2;
     }
     
-    gl->roll = 0.0;
-    gl->pitch = 0.0;
-    gl->yaw = 0.0;
-    gl->lastPkgTime = timeOfArrival;
+    gl.roll = 0.0;
+    gl.pitch = 0.0;
+    gl.yaw = 0.0;
+    gl.lastPkgTime = timeOfArrival;
 }
 
 Glove DataGlove::GetCurrentValues()
 {
-    return *gl;
+    return gl;
 }
 
 bool DataGlove::CheckForNewValues()