From ab5edbc59eb35d03cf57f2268258fbbf0fa4523f Mon Sep 17 00:00:00 2001
From: Mes <mes900903@gmail.com>
Date: Tue, 7 Nov 2023 01:41:20 +0800
Subject: [PATCH] make the HZ and tool_data_path can be used in both simulation
 and label window

---
 GUITool/include/WindowsHandler/Controller.cpp | 4 +---
 GUITool/include/WindowsHandler/Controller.h   | 1 +
 2 files changed, 2 insertions(+), 3 deletions(-)

diff --git a/GUITool/include/WindowsHandler/Controller.cpp b/GUITool/include/WindowsHandler/Controller.cpp
index d43e170..7814ab3 100644
--- a/GUITool/include/WindowsHandler/Controller.cpp
+++ b/GUITool/include/WindowsHandler/Controller.cpp
@@ -89,7 +89,7 @@ void AnimationController::transform_frame()
   is_xydata = !rtheta_data;
 
   max_frame /= HZ;
-  --max_frame;
+  --max_frame;    // 0 ~ max_frame-1
 
   _raw_bin_file.open(_raw_bin_path, std::ios::in | std::ios::binary);
   if (_raw_bin_file.fail()) {
@@ -137,7 +137,6 @@ void AnimationController::check_auto_play()
 AnimationController::AnimationController()
 {
   fps = 60;
-  HZ = 360;
   frame = 0, max_frame = 0;
   window_size = 750;
 
@@ -147,7 +146,6 @@ AnimationController::AnimationController()
   auto_play = false;
   replay = false;
 
-  xy_data = Eigen::MatrixXd::Zero(HZ, 2);
   _raw_bin_open = false;
   is_xydata = false;
 }
\ No newline at end of file
diff --git a/GUITool/include/WindowsHandler/Controller.h b/GUITool/include/WindowsHandler/Controller.h
index e58e2d8..fddec36 100644
--- a/GUITool/include/WindowsHandler/Controller.h
+++ b/GUITool/include/WindowsHandler/Controller.h
@@ -50,6 +50,7 @@ class AnimationController {
   bool is_xydata;
 
   std::chrono::system_clock::time_point _current_time;
+  std::string _tool_data_path;
   std::string _raw_bin_path;
   std::ifstream _raw_bin_file;
   bool _raw_bin_open;