Changeset 103:089a461e4ad5 in rrlib_localization

Timestamp:

08.12.2021 07:33:38 (2 years ago)

Author:

Max Reichardt <mreichardt@…>

Branch:

17.03

Phase:

public

Message:

Replaces legacy dependency to rrlib::util::tTime with rrlib::time::tTimestamp

Files:

• tOdometry.cpp (modified) (3 diffs)
• tOdometry.h (modified) (3 diffs)

tOdometry.cpp

@@ -122 +122 @@
 // class tOdometry UpdateTime()
 //----------------------------------------------------------------------
-void tOdometry::UpdateTime(const util::tTime& internal_time, const util::tTime& external_time)
+void tOdometry::UpdateTime(const time::tTimestamp& internal_time, const time::tTimestamp& external_time)
 {
   if (!this->use_timestamp)
@@ -131 +131 @@
       timer = internal_time;
     }
-    elapsed_time = (internal_time - timer).ToUSec() * 0.000001;
+    elapsed_time = rrlib::si_units::tTime<>(internal_time - timer).Value();
     timer = internal_time;
   }
@@ -142 +142 @@
     }
 
-    elapsed_time = (external_time - timer).ToUSec() * 0.000001;
+    elapsed_time = rrlib::si_units::tTime<>(external_time - timer).Value();
     timer = external_time;
   }

tOdometry.h

@@ -42 +42 @@
 #include "rrlib/math/tPose3D.h"
 #include "rrlib/math/tMatrix.h"
-#include "rrlib/util/tTime.h"
 #include "rrlib/logging/messages.h"
 
@@ -139 +138 @@
     const math::tPose3D& _delta_pose_wcs);
 
-  void UpdateTime(const util::tTime& internal_time, const util::tTime& external_time);
+  void UpdateTime(const time::tTimestamp& internal_time, const time::tTimestamp& external_time);
 
   bool UpdatePose(double velocity, double angular_velocity, double side_slip_angle);
@@ -157 +156 @@
 
   float elapsed_time;
-  util::tTime timer;
+  time::tTimestamp timer;
 
   int data_select;