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1 /************************************************************************************
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2
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3 Filename : Tracking_SensorStateReader.h
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4 Content : Separate reader component that is able to recover sensor pose
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5 Created : June 4, 2014
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6 Authors : Chris Taylor
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7
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8 Copyright : Copyright 2014 Oculus VR, LLC All Rights reserved.
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9
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10 Licensed under the Oculus VR Rift SDK License Version 3.2 (the "License");
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11 you may not use the Oculus VR Rift SDK except in compliance with the License,
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12 which is provided at the time of installation or download, or which
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13 otherwise accompanies this software in either electronic or hard copy form.
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14
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15 You may obtain a copy of the License at
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16
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17 http://www.oculusvr.com/licenses/LICENSE-3.2
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18
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19 Unless required by applicable law or agreed to in writing, the Oculus VR SDK
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20 distributed under the License is distributed on an "AS IS" BASIS,
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21 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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22 See the License for the specific language governing permissions and
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23 limitations under the License.
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24
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25 *************************************************************************************/
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26
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27 #ifndef Tracking_SensorStateReader_h
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28 #define Tracking_SensorStateReader_h
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29
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30 #include "../Kernel/OVR_Lockless.h"
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31 #include "Tracking_SensorState.h"
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32
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33 #include "../OVR_Profile.h"
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34
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35 namespace OVR { namespace Tracking {
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36
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37
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38 //-----------------------------------------------------------------------------
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39 // SensorStateReader
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40
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41 // User interface to retrieve pose from the sensor fusion subsystem
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42 class SensorStateReader : public NewOverrideBase
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43 {
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44 protected:
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45 const CombinedSharedStateUpdater *Updater;
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46
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47
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48 // Last latency warning time
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49 mutable double LastLatWarnTime;
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50
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51 // Transform from real-world coordinates to centered coordinates
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52 Posed CenteredFromWorld;
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53
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54 public:
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55 SensorStateReader();
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56
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57 // Initialize the updater
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58 void SetUpdater(const CombinedSharedStateUpdater *updater);
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59
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60 // Re-centers on the current yaw (optionally pitch) and translation
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61 void RecenterPose();
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62
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63 // Get the full dynamical system state of the CPF, which includes velocities and accelerations,
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64 // predicted at a specified absolute point in time.
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65 bool GetSensorStateAtTime(double absoluteTime, Tracking::TrackingState& state) const;
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66
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67 // Get the predicted pose (orientation, position) of the center pupil frame (CPF) at a specific point in time.
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68 bool GetPoseAtTime(double absoluteTime, Posef& transform) const;
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69
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70 // Get the sensor status (same as GetSensorStateAtTime(...).Status)
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71 uint32_t GetStatus() const;
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72
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73 const Posed getCenteredFromWorld()
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74 {
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75 return CenteredFromWorld;
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76 }
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77
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78 void setCenteredFromWorld(const Posed _CenteredFromWorld)
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79 {
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80 CenteredFromWorld = _CenteredFromWorld;
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81 }
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82 };
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83
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84
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85 }} // namespace OVR::Tracking
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86
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87 #endif // Tracking_SensorStateReader_h
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