Address comments

src/input_common/motion_input.cpp

@@ -2,43 +2,26 @@
 
 namespace InputCommon {
 
-MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd) : kp(new_kp), ki(new_ki), kd(new_kd) {
+MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd)
-    accel = {};
+    : kp(new_kp), ki(new_ki), kd(new_kd), quat{{0, 0, -1}, 0} {}
-    gyro = {};
-    gyro_drift = {};
-    gyro_threshold = 0;
-    rotations = {};
 
-    quat.w = 0;
+void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
-    quat.xyz[0] = 0;
-    quat.xyz[1] = 0;
-    quat.xyz[2] = -1;
-
-    real_error = {};
-    integral_error = {};
-    derivative_error = {};
-
-    reset_counter = 0;
-    reset_enabled = true;
-}
-
-void MotionInput::SetAcceleration(Common::Vec3f acceleration) {
     accel = acceleration;
 }
 
-void MotionInput::SetGyroscope(Common::Vec3f gyroscope) {
+void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
     gyro = gyroscope - gyro_drift;
     if (gyro.Length2() < gyro_threshold) {
         gyro = {};
     }
 }
 
-void MotionInput::SetQuaternion(Common::Quaternion<f32> quaternion) {
+void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
     quat = quaternion;
 }
 
-void MotionInput::SetGyroDrift(Common::Vec3f drift) {
+void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
-    drift = gyro_drift;
+    gyro_drift = drift;
 }
 
 void MotionInput::SetGyroThreshold(f32 threshold) {
@@ -53,11 +36,11 @@ void MotionInput::ResetRotations() {
     rotations = {};
 }
 
-bool MotionInput::IsMoving(f32 sensitivity) {
+bool MotionInput::IsMoving(f32 sensitivity) const {
     return gyro.Length2() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
 }
 
-bool MotionInput::IsCalibrated(f32 sensitivity) {
+bool MotionInput::IsCalibrated(f32 sensitivity) const {
     return real_error.Length() > sensitivity;
 }
 
@@ -67,30 +50,30 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
 
 void MotionInput::UpdateOrientation(u64 elapsed_time) {
     // Short name local variable for readability
-    f32 q1 = quat.w, q2 = quat.xyz[0], q3 = quat.xyz[1], q4 = quat.xyz[2];
+    f32 q1 = quat.w;
-    f32 sample_period = elapsed_time / 1000000.0f;
+    f32 q2 = quat.xyz[0];
+    f32 q3 = quat.xyz[1];
+    f32 q4 = quat.xyz[2];
+    const f32 sample_period = elapsed_time / 1000000.0f;
 
-    auto normal_accel = accel.Normalized();
+    const auto normal_accel = accel.Normalized();
     auto rad_gyro = gyro * 3.1415926535f;
     rad_gyro.z = -rad_gyro.z;
 
     // Ignore drift correction if acceleration is not present
     if (normal_accel.Length() == 1.0f) {
-        f32 ax = -normal_accel.x;
+        const f32 ax = -normal_accel.x;
-        f32 ay = normal_accel.y;
+        const f32 ay = normal_accel.y;
-        f32 az = -normal_accel.z;
+        const f32 az = -normal_accel.z;
-        f32 vx, vy, vz;
-        Common::Vec3f new_real_error;
 
         // Estimated direction of gravity
-        vx = 2.0f * (q2 * q4 - q1 * q3);
+        const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
-        vy = 2.0f * (q1 * q2 + q3 * q4);
+        const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
-        vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
+        const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
 
         // Error is cross product between estimated direction and measured direction of gravity
-        new_real_error.x = ay * vz - az * vy;
+        const Common::Vec3f new_real_error = {ay * vz - az * vy, az * vx - ax * vz,
-        new_real_error.y = az * vx - ax * vz;
+                                              ax * vy - ay * vx};
-        new_real_error.x = ax * vy - ay * vx;
 
         derivative_error = new_real_error - real_error;
         real_error = new_real_error;
@@ -108,15 +91,14 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
         rad_gyro += kd * derivative_error;
     }
 
-    f32 gx = rad_gyro.y;
+    const f32 gx = rad_gyro.y;
-    f32 gy = rad_gyro.x;
+    const f32 gy = rad_gyro.x;
-    f32 gz = rad_gyro.z;
+    const f32 gz = rad_gyro.z;
 
     // Integrate rate of change of quaternion
-    f32 pa, pb, pc;
+    const f32 pa = q2;
-    pa = q2;
+    const f32 pb = q3;
-    pb = q3;
+    const f32 pc = q4;
-    pc = q4;
     q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
     q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
     q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
@@ -129,41 +111,33 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
     quat = quat.Normalized();
 }
 
-std::array<Common::Vec3f, 3> MotionInput::GetOrientation() {
+std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
-    std::array<Common::Vec3f, 3> orientation = {};
+    const Common::Quaternion<float> quad{.xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
-    Common::Quaternion<float> quad;
+                                         .w = -quat.xyz[2]};
+    const std::array<float, 16> matrix4x4 = quad.ToMatrix();
 
-    quad.w = -quat.xyz[2];
+    return {Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]),
-    quad.xyz[0] = -quat.xyz[1];
+            Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]),
-    quad.xyz[1] = -quat.xyz[0];
+            Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10])};
-    quad.xyz[2] = -quat.w;
-
-    std::array<float, 16> matrix4x4 = quad.ToMatrix();
-
-    orientation[0] = Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]);
-    orientation[1] = Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]);
-    orientation[2] = Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10]);
-
-    return orientation;
 }
 
-Common::Vec3f MotionInput::GetAcceleration() {
+Common::Vec3f MotionInput::GetAcceleration() const {
     return accel;
 }
 
-Common::Vec3f MotionInput::GetGyroscope() {
+Common::Vec3f MotionInput::GetGyroscope() const {
     return gyro;
 }
 
-Common::Quaternion<f32> MotionInput::GetQuaternion() {
+Common::Quaternion<f32> MotionInput::GetQuaternion() const {
     return quat;
 }
 
-Common::Vec3f MotionInput::GetRotations() {
+Common::Vec3f MotionInput::GetRotations() const {
     return rotations;
 }
 
-void MotionInput::resetOrientation() {
+void MotionInput::ResetOrientation() {
     if (!reset_enabled) {
         return;
     }
@@ -182,4 +156,4 @@ void MotionInput::resetOrientation() {
         reset_counter = 0;
     }
 }
-} // namespace InputCommon
+} // namespace InputCommon

src/input_common/motion_input.h

@@ -14,10 +14,16 @@ class MotionInput {
 public:
     MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
 
-    void SetAcceleration(Common::Vec3f acceleration);
+    MotionInput(const MotionInput&) = default;
-    void SetGyroscope(Common::Vec3f acceleration);
+    MotionInput& operator=(const MotionInput&) = default;
-    void SetQuaternion(Common::Quaternion<f32> quaternion);
+
-    void SetGyroDrift(Common::Vec3f drift);
+    MotionInput(MotionInput&&) = default;
+    MotionInput& operator=(MotionInput&&) = default;
+
+    void SetAcceleration(const Common::Vec3f& acceleration);
+    void SetGyroscope(const Common::Vec3f& acceleration);
+    void SetQuaternion(const Common::Quaternion<f32>& quaternion);
+    void SetGyroDrift(const Common::Vec3f& drift);
     void SetGyroThreshold(f32 threshold);
 
     void EnableReset(bool reset);
@@ -26,23 +32,23 @@ public:
     void UpdateRotation(u64 elapsed_time);
     void UpdateOrientation(u64 elapsed_time);
 
-    std::array<Common::Vec3f, 3> GetOrientation();
+    std::array<Common::Vec3f, 3> GetOrientation() const;
-    Common::Vec3f GetAcceleration();
+    Common::Vec3f GetAcceleration() const;
-    Common::Vec3f GetGyroscope();
+    Common::Vec3f GetGyroscope() const;
-    Common::Vec3f GetRotations();
+    Common::Vec3f GetRotations() const;
-    Common::Quaternion<f32> GetQuaternion();
+    Common::Quaternion<f32> GetQuaternion() const;
 
-    bool IsMoving(f32 sensitivity);
+    bool IsMoving(f32 sensitivity) const;
-    bool IsCalibrated(f32 sensitivity);
+    bool IsCalibrated(f32 sensitivity) const;
+
+private:
+    void ResetOrientation();
 
     // PID constants
     const f32 kp;
     const f32 ki;
     const f32 kd;
 
-private:
-    void resetOrientation();
-
     // PID errors
     Common::Vec3f real_error;
     Common::Vec3f integral_error;
@@ -54,9 +60,9 @@ private:
     Common::Vec3f gyro;
     Common::Vec3f gyro_drift;
 
-    f32 gyro_threshold;
+    f32 gyro_threshold = 0.0f;
-    f32 reset_counter;
+    f32 reset_counter = 0.0f;
-    bool reset_enabled;
+    bool reset_enabled = true;
 };
 
 } // namespace InputCommon