nuclear@0: /************************************************************************************
nuclear@0: 
nuclear@0: Filename    :   Tracking_SensorStateReader.h
nuclear@0: Content     :   Separate reader component that is able to recover sensor pose
nuclear@0: Created     :   June 4, 2014
nuclear@0: Authors     :   Chris Taylor
nuclear@0: 
nuclear@0: Copyright   :   Copyright 2014 Oculus VR, LLC All Rights reserved.
nuclear@0: 
nuclear@0: Licensed under the Oculus VR Rift SDK License Version 3.2 (the "License"); 
nuclear@0: you may not use the Oculus VR Rift SDK except in compliance with the License, 
nuclear@0: which is provided at the time of installation or download, or which 
nuclear@0: otherwise accompanies this software in either electronic or hard copy form.
nuclear@0: 
nuclear@0: You may obtain a copy of the License at
nuclear@0: 
nuclear@0: http://www.oculusvr.com/licenses/LICENSE-3.2 
nuclear@0: 
nuclear@0: Unless required by applicable law or agreed to in writing, the Oculus VR SDK 
nuclear@0: distributed under the License is distributed on an "AS IS" BASIS,
nuclear@0: WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
nuclear@0: See the License for the specific language governing permissions and
nuclear@0: limitations under the License.
nuclear@0: 
nuclear@0: *************************************************************************************/
nuclear@0: 
nuclear@0: #ifndef Tracking_SensorStateReader_h
nuclear@0: #define Tracking_SensorStateReader_h
nuclear@0: 
nuclear@0: #include "../Kernel/OVR_Lockless.h"
nuclear@0: #include "Tracking_SensorState.h"
nuclear@0: 
nuclear@0: #include "../OVR_Profile.h"
nuclear@0: 
nuclear@0: namespace OVR { namespace Tracking {
nuclear@0: 
nuclear@0: 
nuclear@0: //-----------------------------------------------------------------------------
nuclear@0: // SensorStateReader
nuclear@0: 
nuclear@0: // User interface to retrieve pose from the sensor fusion subsystem
nuclear@0: class SensorStateReader : public NewOverrideBase
nuclear@0: {
nuclear@0: protected:
nuclear@0: 	const CombinedSharedStateUpdater *Updater;
nuclear@0: 
nuclear@0: 
nuclear@0:     // Last latency warning time
nuclear@0:     mutable double LastLatWarnTime;
nuclear@0: 
nuclear@0:     // Transform from real-world coordinates to centered coordinates
nuclear@0:     Posed CenteredFromWorld; 
nuclear@0: 
nuclear@0: public:
nuclear@0: 	SensorStateReader();
nuclear@0: 
nuclear@0: 	// Initialize the updater
nuclear@0:     void         SetUpdater(const CombinedSharedStateUpdater *updater);
nuclear@0: 
nuclear@0: 	// Re-centers on the current yaw (optionally pitch) and translation
nuclear@0: 	void		 RecenterPose();
nuclear@0: 
nuclear@0: 	// Get the full dynamical system state of the CPF, which includes velocities and accelerations,
nuclear@0: 	// predicted at a specified absolute point in time.
nuclear@0: 	bool		 GetSensorStateAtTime(double absoluteTime, Tracking::TrackingState& state) const;
nuclear@0: 
nuclear@0: 	// Get the predicted pose (orientation, position) of the center pupil frame (CPF) at a specific point in time.
nuclear@0: 	bool		 GetPoseAtTime(double absoluteTime, Posef& transform) const;
nuclear@0: 
nuclear@0: 	// Get the sensor status (same as GetSensorStateAtTime(...).Status)
nuclear@0: 	uint32_t     GetStatus() const;
nuclear@0: 
nuclear@0:     const Posed getCenteredFromWorld()
nuclear@0:     {
nuclear@0:         return CenteredFromWorld;
nuclear@0:     }
nuclear@0: 
nuclear@0:     void setCenteredFromWorld(const Posed _CenteredFromWorld)
nuclear@0:     {
nuclear@0:         CenteredFromWorld = _CenteredFromWorld;
nuclear@0:     }
nuclear@0: };
nuclear@0: 
nuclear@0: 
nuclear@0: }} // namespace OVR::Tracking
nuclear@0: 
nuclear@0: #endif // Tracking_SensorStateReader_h