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authorSven Gothel <[email protected]>2015-03-21 21:19:34 +0100
committerSven Gothel <[email protected]>2015-03-21 21:19:34 +0100
commite490c3c7f7bb5461cfa78a214827aa534fb43a3e (patch)
treeb86b0291ef529ec6b75cc548d73599fa9c283cd6 /LibOVR/Src/Tracking/Tracking_SensorStateReader.h
parent05bb4364bfd9930fb1902efec86446ef035ee07a (diff)
Bump OculusVR RIFT SDK to 0.4.4
Diffstat (limited to 'LibOVR/Src/Tracking/Tracking_SensorStateReader.h')
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+/************************************************************************************
+
+Filename : Tracking_SensorStateReader.h
+Content : Separate reader component that is able to recover sensor pose
+Created : June 4, 2014
+Authors : Chris Taylor
+
+Copyright : Copyright 2014 Oculus VR, LLC All Rights reserved.
+
+Licensed under the Oculus VR Rift SDK License Version 3.2 (the "License");
+you may not use the Oculus VR Rift SDK except in compliance with the License,
+which is provided at the time of installation or download, or which
+otherwise accompanies this software in either electronic or hard copy form.
+
+You may obtain a copy of the License at
+
+http://www.oculusvr.com/licenses/LICENSE-3.2
+
+Unless required by applicable law or agreed to in writing, the Oculus VR SDK
+distributed under the License is distributed on an "AS IS" BASIS,
+WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+See the License for the specific language governing permissions and
+limitations under the License.
+
+*************************************************************************************/
+
+#ifndef Tracking_SensorStateReader_h
+#define Tracking_SensorStateReader_h
+
+#include "../Kernel/OVR_Lockless.h"
+#include "Tracking_SensorState.h"
+
+#include "../OVR_Profile.h"
+
+namespace OVR { namespace Tracking {
+
+
+//-----------------------------------------------------------------------------
+// SensorStateReader
+
+// User interface to retrieve pose from the sensor fusion subsystem
+class SensorStateReader : public NewOverrideBase
+{
+protected:
+ const CombinedSharedStateUpdater *Updater;
+
+
+ // Last latency warning time
+ mutable double LastLatWarnTime;
+
+ // Transform from real-world coordinates to centered coordinates
+ Posed CenteredFromWorld;
+
+public:
+ SensorStateReader();
+
+ // Initialize the updater
+ void SetUpdater(const CombinedSharedStateUpdater *updater);
+
+ // Re-centers on the current yaw (optionally pitch) and translation
+ void RecenterPose();
+
+ // Get the full dynamical system state of the CPF, which includes velocities and accelerations,
+ // predicted at a specified absolute point in time.
+ bool GetSensorStateAtTime(double absoluteTime, Tracking::TrackingState& state) const;
+
+ // Get the predicted pose (orientation, position) of the center pupil frame (CPF) at a specific point in time.
+ bool GetPoseAtTime(double absoluteTime, Posef& transform) const;
+
+ // Get the sensor status (same as GetSensorStateAtTime(...).Status)
+ uint32_t GetStatus() const;
+
+ const Posed getCenteredFromWorld()
+ {
+ return CenteredFromWorld;
+ }
+
+ void setCenteredFromWorld(const Posed _CenteredFromWorld)
+ {
+ CenteredFromWorld = _CenteredFromWorld;
+ }
+};
+
+
+}} // namespace OVR::Tracking
+
+#endif // Tracking_SensorStateReader_h