Changeset 103:089a461e4ad5 in rrlib_localization


Ignore:
Timestamp:
08.12.2021 07:33:38 (14 months ago)
Author:
Max Reichardt <mreichardt@…>
Branch:
17.03
Phase:
public
Message:

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

Files:
2 edited

Legend:

Unmodified
Added
Removed
  • tOdometry.cpp

    r45 r103  
    122122// class tOdometry UpdateTime() 
    123123//---------------------------------------------------------------------- 
    124 void tOdometry::UpdateTime(const util::tTime& internal_time, const util::tTime& external_time) 
     124void tOdometry::UpdateTime(const time::tTimestamp& internal_time, const time::tTimestamp& external_time) 
    125125{ 
    126126  if (!this->use_timestamp) 
     
    131131      timer = internal_time; 
    132132    } 
    133     elapsed_time = (internal_time - timer).ToUSec() * 0.000001; 
     133    elapsed_time = rrlib::si_units::tTime<>(internal_time - timer).Value(); 
    134134    timer = internal_time; 
    135135  } 
     
    142142    } 
    143143 
    144     elapsed_time = (external_time - timer).ToUSec() * 0.000001; 
     144    elapsed_time = rrlib::si_units::tTime<>(external_time - timer).Value(); 
    145145    timer = external_time; 
    146146  } 
  • tOdometry.h

    r45 r103  
    4242#include "rrlib/math/tPose3D.h" 
    4343#include "rrlib/math/tMatrix.h" 
    44 #include "rrlib/util/tTime.h" 
    4544#include "rrlib/logging/messages.h" 
    4645 
     
    139138    const math::tPose3D& _delta_pose_wcs); 
    140139 
    141   void UpdateTime(const util::tTime& internal_time, const util::tTime& external_time); 
     140  void UpdateTime(const time::tTimestamp& internal_time, const time::tTimestamp& external_time); 
    142141 
    143142  bool UpdatePose(double velocity, double angular_velocity, double side_slip_angle); 
     
    157156 
    158157  float elapsed_time; 
    159   util::tTime timer; 
     158  time::tTimestamp timer; 
    160159 
    161160  int data_select; 
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