28 lines
649 B
C++
28 lines
649 B
C++
#include <chrono>
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#include <thread>
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#include "src/device/dm_imu/dm_imu.hpp"
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#include "src/component/exiter.hpp"
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#include "src/component/logger.hpp"
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#include "src/component/math_tools.hpp"
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using namespace std::chrono_literals;
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int main()
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{
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component::Exiter exiter;
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device::DM_IMU imu;
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while (!exiter.exit()) {
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auto timestamp = std::chrono::steady_clock::now();
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std::this_thread::sleep_for(1ms);
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Eigen::Quaterniond q = imu.imu_at(timestamp);
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Eigen::Vector3d eulers = component::eulers(q, 2, 1, 0) * 57.3;
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component::logger()->info("z{:.2f} y{:.2f} x{:.2f} degree", eulers[0], eulers[1], eulers[2]);
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}
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return 0;
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} |