1 /************************************************************************************

2

3 Filename : Tracking_SensorStateReader.h

4 Content : Separate reader component that is able to recover sensor pose

5 Created : June 4, 2014

6 Authors : Chris Taylor

7

8 Copyright : Copyright 2014 Oculus VR, LLC All Rights reserved.

9

10 Licensed under the Oculus VR Rift SDK License Version 3.2 (the "License");

11 you may not use the Oculus VR Rift SDK except in compliance with the License,

12 which is provided at the time of installation or download, or which

13 otherwise accompanies this software in either electronic or hard copy form.

14

15 You may obtain a copy of the License at

16

17 http://www.oculusvr.com/licenses/LICENSE-3.2

18

19 Unless required by applicable law or agreed to in writing, the Oculus VR SDK

20 distributed under the License is distributed on an "AS IS" BASIS,

21 WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.

22 See the License for the specific language governing permissions and

23 limitations under the License.

24

25 *************************************************************************************/

26

27 #ifndef Tracking_SensorStateReader_h

28 #define Tracking_SensorStateReader_h

29

30 #include "../Kernel/OVR_Lockless.h"

31 #include "Tracking_SensorState.h"

32

33 #include "../OVR_Profile.h"

34

35 namespace OVR { namespace Tracking {

36

37

38 //-----------------------------------------------------------------------------

39 // SensorStateReader

40

41 // User interface to retrieve pose from the sensor fusion subsystem

42 class SensorStateReader : public NewOverrideBase

43 {

44 protected:

45 const CombinedSharedStateUpdater *Updater;

46

47

48 // Last latency warning time

49 mutable double LastLatWarnTime;

50

51 // Transform from real-world coordinates to centered coordinates

52 Posed CenteredFromWorld;

53

54 public:

55 SensorStateReader();

56

57 // Initialize the updater

58 void SetUpdater(const CombinedSharedStateUpdater *updater);

59

60 // Re-centers on the current yaw (optionally pitch) and translation

61 void RecenterPose();

62

63 // Get the full dynamical system state of the CPF, which includes velocities and accelerations,

64 // predicted at a specified absolute point in time.

65 bool GetSensorStateAtTime(double absoluteTime, Tracking::TrackingState& state) const;

66

67 // Get the predicted pose (orientation, position) of the center pupil frame (CPF) at a specific point in time.

68 bool GetPoseAtTime(double absoluteTime, Posef& transform) const;

69

70 // Get the sensor status (same as GetSensorStateAtTime(...).Status)

71 uint32_t GetStatus() const;

72

73 const Posed getCenteredFromWorld()

74 {

75 return CenteredFromWorld;

76 }

77

78 void setCenteredFromWorld(const Posed _CenteredFromWorld)

79 {

80 CenteredFromWorld = _CenteredFromWorld;

81 }

82 };

83

84

85 }} // namespace OVR::Tracking

86

87 #endif // Tracking_SensorStateReader_h