| 78 | } |
| 79 | |
| 80 | void PulseCollection::addPoint(double time, const Eigen::Vector3d& startPos, |
| 81 | const Eigen::Vector3d& endPos, double angle) |
| 82 | { |
| 83 | auto shouldRegister = [](const std::vector<Pulse>& buf, double curTime, double interval) -> bool |
| 84 | { |
| 85 | if (buf.empty()) |
| 86 | return false; |
| 87 | return std::floor(buf.front().t / interval) != std::floor(curTime / interval); |
| 88 | }; |
| 89 | |
| 90 | if (usingMulti()) |
| 91 | { |
| 92 | if (shouldRegister(m_multiBuf, time, m_args.dtr)) |
| 93 | { |
| 94 | registerMulti(m_multiBuf); |
| 95 | m_multiBuf.clear(); |
| 96 | } |
| 97 | m_multiBuf.push_back(Pulse(time, startPos, endPos, angle)); |
| 98 | } |
| 99 | if (usingSingle()) |
| 100 | { |
| 101 | if (shouldRegister(m_singleBuf, time, m_args.dts)) |
| 102 | { |
| 103 | registerSingle(m_singleBuf); |
| 104 | m_singleBuf.clear(); |
| 105 | } |
| 106 | m_singleBuf.push_back(Pulse(time, startPos, angle)); |
| 107 | } |
| 108 | } |
| 109 | |
| 110 | void PulseCollection::registerMulti(const std::vector<Pulse>& buf) |
| 111 | { |