1.1 --- /dev/null	Thu Jan 01 00:00:00 1970 +0000
     1.2 +++ b/LibOVR/Src/Tracking/Tracking_SensorStateReader.h	Wed Jan 14 06:51:16 2015 +0200
     1.3 @@ -0,0 +1,87 @@
     1.4 +/************************************************************************************
     1.5 +
     1.6 +Filename    :   Tracking_SensorStateReader.h
     1.7 +Content     :   Separate reader component that is able to recover sensor pose
     1.8 +Created     :   June 4, 2014
     1.9 +Authors     :   Chris Taylor
    1.10 +
    1.11 +Copyright   :   Copyright 2014 Oculus VR, LLC All Rights reserved.
    1.12 +
    1.13 +Licensed under the Oculus VR Rift SDK License Version 3.2 (the "License"); 
    1.14 +you may not use the Oculus VR Rift SDK except in compliance with the License, 
    1.15 +which is provided at the time of installation or download, or which 
    1.16 +otherwise accompanies this software in either electronic or hard copy form.
    1.17 +
    1.18 +You may obtain a copy of the License at
    1.19 +
    1.20 +http://www.oculusvr.com/licenses/LICENSE-3.2 
    1.21 +
    1.22 +Unless required by applicable law or agreed to in writing, the Oculus VR SDK 
    1.23 +distributed under the License is distributed on an "AS IS" BASIS,
    1.24 +WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
    1.25 +See the License for the specific language governing permissions and
    1.26 +limitations under the License.
    1.27 +
    1.28 +*************************************************************************************/
    1.29 +
    1.30 +#ifndef Tracking_SensorStateReader_h
    1.31 +#define Tracking_SensorStateReader_h
    1.32 +
    1.33 +#include "../Kernel/OVR_Lockless.h"
    1.34 +#include "Tracking_SensorState.h"
    1.35 +
    1.36 +#include "../OVR_Profile.h"
    1.37 +
    1.38 +namespace OVR { namespace Tracking {
    1.39 +
    1.40 +
    1.41 +//-----------------------------------------------------------------------------
    1.42 +// SensorStateReader
    1.43 +
    1.44 +// User interface to retrieve pose from the sensor fusion subsystem
    1.45 +class SensorStateReader : public NewOverrideBase
    1.46 +{
    1.47 +protected:
    1.48 +	const CombinedSharedStateUpdater *Updater;
    1.49 +
    1.50 +
    1.51 +    // Last latency warning time
    1.52 +    mutable double LastLatWarnTime;
    1.53 +
    1.54 +    // Transform from real-world coordinates to centered coordinates
    1.55 +    Posed CenteredFromWorld; 
    1.56 +
    1.57 +public:
    1.58 +	SensorStateReader();
    1.59 +
    1.60 +	// Initialize the updater
    1.61 +    void         SetUpdater(const CombinedSharedStateUpdater *updater);
    1.62 +
    1.63 +	// Re-centers on the current yaw (optionally pitch) and translation
    1.64 +	void		 RecenterPose();
    1.65 +
    1.66 +	// Get the full dynamical system state of the CPF, which includes velocities and accelerations,
    1.67 +	// predicted at a specified absolute point in time.
    1.68 +	bool		 GetSensorStateAtTime(double absoluteTime, Tracking::TrackingState& state) const;
    1.69 +
    1.70 +	// Get the predicted pose (orientation, position) of the center pupil frame (CPF) at a specific point in time.
    1.71 +	bool		 GetPoseAtTime(double absoluteTime, Posef& transform) const;
    1.72 +
    1.73 +	// Get the sensor status (same as GetSensorStateAtTime(...).Status)
    1.74 +	uint32_t     GetStatus() const;
    1.75 +
    1.76 +    const Posed getCenteredFromWorld()
    1.77 +    {
    1.78 +        return CenteredFromWorld;
    1.79 +    }
    1.80 +
    1.81 +    void setCenteredFromWorld(const Posed _CenteredFromWorld)
    1.82 +    {
    1.83 +        CenteredFromWorld = _CenteredFromWorld;
    1.84 +    }
    1.85 +};
    1.86 +
    1.87 +
    1.88 +}} // namespace OVR::Tracking
    1.89 +
    1.90 +#endif // Tracking_SensorStateReader_h