From 1c219e64d7e98cc622b4fbae8662a578ffc57053 Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Fri, 31 Mar 2017 16:36:05 -0500
Subject: height measurement flags

---
 src/main.cpp | 9 +++++----
 src/main.h   | 3 ++-
 2 files changed, 7 insertions(+), 5 deletions(-)

(limited to 'src')

diff --git a/src/main.cpp b/src/main.cpp
index 1de5b29..c7ed177 100644
--- a/src/main.cpp
+++ b/src/main.cpp
@@ -31,12 +31,12 @@ double
 aboveWater(const Quaterniond &q)
 {
     Vector3d tip;
-#ifdef  DOHEIGHT
+#ifdef  HEIGHT_FROM_ATTITUDE
     tip << CANOECENTER*3.43, 0, CANOEHEIGHT;
     tip = q._transformVector(tip);
-#else      /* -----  not DOHEIGHT  ----- */
+#else      /* -----  not HEIGHT_FROM_ATTITUDE  ----- */
     tip[2] = CANOEHEIGHT;
-#endif     /* -----  not DOHEIGHT  ----- */
+#endif     /* -----  not HEIGHT_FROM_ATTITUDE  ----- */
     return tip[2];
 }
 
@@ -78,11 +78,12 @@ imgCallback(message &msg, State &mu, Camera &cam, const Quaterniond &q)
 {
     if (seenutm && seenpva && seencov) {
         std::vector<measurement_t> z;
-
+#ifdef MEASURE_HEIGHT
         measurement_t height;
         height.z_type = HEIGHT;
         height.height = aboveWater(q);
         z.push_back(height);
+#endif
 
         strcat(msg.image_names[0],".txt");
         FILE *fin;
diff --git a/src/main.h b/src/main.h
index 8235b98..746e187 100644
--- a/src/main.h
+++ b/src/main.h
@@ -37,7 +37,8 @@
 #define CANOECENTER 0.65            /* center of gravity of canoe  */
 #define CANOEHEIGHT -0.55
 #define DOWNSAMPLE 1            /*  */
-#define DOHEIGHT            /*  */
+//#define HEIGHT_FROM_ATTITUDE    /* use the attitude to measure the height */
+//#define MEASURE_HEIGHT
 
 #if  ROS_PUBLISH
 #include <ros/ros.h>
-- 
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