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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
parent05bb4364bfd9930fb1902efec86446ef035ee07a (diff)
Bump OculusVR RIFT SDK to 0.4.4
Diffstat (limited to 'LibOVR/Src/Tracking')
-rw-r--r--LibOVR/Src/Tracking/Tracking_PoseState.h133
-rw-r--r--LibOVR/Src/Tracking/Tracking_SensorState.h212
-rw-r--r--LibOVR/Src/Tracking/Tracking_SensorStateReader.cpp207
-rw-r--r--LibOVR/Src/Tracking/Tracking_SensorStateReader.h87
4 files changed, 639 insertions, 0 deletions
diff --git a/LibOVR/Src/Tracking/Tracking_PoseState.h b/LibOVR/Src/Tracking/Tracking_PoseState.h
new file mode 100644
index 0000000..19e2ee2
--- /dev/null
+++ b/LibOVR/Src/Tracking/Tracking_PoseState.h
@@ -0,0 +1,133 @@
+/************************************************************************************
+
+Filename : Tracking_PoseState.h
+Content : Describes the complete pose at a point in time, including derivatives
+Created : May 13, 2014
+Authors : Dov Katz
+
+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_PoseState_h
+#define Tracking_PoseState_h
+
+#include "../Kernel/OVR_Math.h"
+
+namespace OVR {
+
+// PoseState describes the complete pose, or a rigid body configuration, at a
+// point in time, including first and second derivatives. It is used to specify
+// instantaneous location and movement of the headset.
+// SensorState is returned as a part of the sensor state.
+
+template<class T>
+class PoseState
+{
+public:
+ typedef typename CompatibleTypes<Pose<T> >::Type CompatibleType;
+
+ PoseState() : TimeInSeconds(0.0) { }
+ PoseState(Pose<T> pose, double time) : ThePose(pose), TimeInSeconds(time) { }
+
+ // float <-> double conversion constructor.
+ explicit PoseState(const PoseState<typename Math<T>::OtherFloatType> &src)
+ : ThePose(src.ThePose),
+ AngularVelocity(src.AngularVelocity), LinearVelocity(src.LinearVelocity),
+ AngularAcceleration(src.AngularAcceleration), LinearAcceleration(src.LinearAcceleration),
+ TimeInSeconds(src.TimeInSeconds)
+ { }
+
+ // C-interop support: PoseStatef <-> ovrPoseStatef
+ PoseState(const typename CompatibleTypes<PoseState<T> >::Type& src)
+ : ThePose(src.ThePose),
+ AngularVelocity(src.AngularVelocity), LinearVelocity(src.LinearVelocity),
+ AngularAcceleration(src.AngularAcceleration), LinearAcceleration(src.LinearAcceleration),
+ TimeInSeconds(src.TimeInSeconds)
+ { }
+
+ operator typename CompatibleTypes<PoseState<T> >::Type() const
+ {
+ typename CompatibleTypes<PoseState<T> >::Type result;
+ result.ThePose = ThePose;
+ result.AngularVelocity = AngularVelocity;
+ result.LinearVelocity = LinearVelocity;
+ result.AngularAcceleration = AngularAcceleration;
+ result.LinearAcceleration = LinearAcceleration;
+ result.TimeInSeconds = TimeInSeconds;
+ return result;
+ }
+
+ Pose<T> ThePose;
+ Vector3<T> AngularVelocity;
+ Vector3<T> LinearVelocity;
+ Vector3<T> AngularAcceleration;
+ Vector3<T> LinearAcceleration;
+ // Absolute time of this state sample; always a double measured in seconds.
+ double TimeInSeconds;
+
+ // ***** Helpers for Pose integration
+
+ // Stores and integrates gyro angular velocity reading for a given time step.
+ void StoreAndIntegrateGyro(Vector3d angVel, double dt);
+ // Stores and integrates position/velocity from accelerometer reading for a given time step.
+ void StoreAndIntegrateAccelerometer(Vector3d linearAccel, double dt);
+
+ // Performs integration of state by adding next state delta to it
+ // to produce a combined state change
+ void AdvanceByDelta(const PoseState<T>& delta);
+};
+
+
+template<class T>
+PoseState<T> operator*(const OVR::Pose<T>& trans, const PoseState<T>& poseState)
+{
+ PoseState<T> result;
+ result.ThePose = trans * poseState.ThePose;
+ result.LinearVelocity = trans.Rotate(poseState.LinearVelocity);
+ result.LinearAcceleration = trans.Rotate(poseState.LinearAcceleration);
+ result.AngularVelocity = trans.Rotate(poseState.AngularVelocity);
+ result.AngularAcceleration = trans.Rotate(poseState.AngularAcceleration);
+ return result;
+}
+
+
+// External API returns pose as float, but uses doubles internally for quaternion precision.
+typedef PoseState<float> PoseStatef;
+typedef PoseState<double> PoseStated;
+
+
+} // namespace OVR::Vision
+
+
+namespace OVR {
+
+ template<> struct CompatibleTypes<OVR::PoseState<float> > { typedef ovrPoseStatef Type; };
+ template<> struct CompatibleTypes<OVR::PoseState<double> > { typedef ovrPoseStated Type; };
+
+ static_assert((sizeof(PoseState<double>) == sizeof(Pose<double>) + 4*sizeof(Vector3<double>) + sizeof(double)), "sizeof(PoseState<double>) failure");
+#ifdef OVR_CPU_X86_64
+ static_assert((sizeof(PoseState<float>) == sizeof(Pose<float>) + 4*sizeof(Vector3<float>) + sizeof(uint32_t) + sizeof(double)), "sizeof(PoseState<float>) failure"); //TODO: Manually pad template.
+#elif defined(OVR_OS_WIN32) // The Windows 32 bit ABI aligns 64 bit values on 64 bit boundaries
+ static_assert((sizeof(PoseState<float>) == sizeof(Pose<float>) + 4*sizeof(Vector3<float>) + sizeof(uint32_t) + sizeof(double)), "sizeof(PoseState<float>) failure");
+#else // Else Unix/Apple 32 bit ABI, which aligns 64 bit values on 32 bit boundaries.
+ static_assert((sizeof(PoseState<float>) == sizeof(Pose<float>) + 4*sizeof(Vector3<float>) + sizeof(double)), "sizeof(PoseState<float>) failure");
+#endif
+}
+
+#endif // Tracking_PoseState_h
diff --git a/LibOVR/Src/Tracking/Tracking_SensorState.h b/LibOVR/Src/Tracking/Tracking_SensorState.h
new file mode 100644
index 0000000..e13c3ef
--- /dev/null
+++ b/LibOVR/Src/Tracking/Tracking_SensorState.h
@@ -0,0 +1,212 @@
+/************************************************************************************
+
+Filename : Tracking_SensorState.h
+Content : Sensor state information shared by tracking system with games
+Created : May 13, 2014
+Authors : Dov Katz, 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_SensorState_h
+#define Tracking_SensorState_h
+
+#include "Tracking_PoseState.h"
+#include "../Kernel/OVR_SharedMemory.h"
+#include "../Kernel/OVR_Lockless.h"
+#include "../Kernel/OVR_String.h"
+#include "../Util/Util_LatencyTest2State.h"
+#include "../Sensors/OVR_DeviceConstants.h"
+
+// CAPI forward declarations.
+struct ovrTrackingState_;
+typedef struct ovrTrackingState_ ovrTrackingState;
+struct ovrPoseStatef_;
+typedef struct ovrPoseStatef_ ovrPoseStatef;
+
+namespace OVR { namespace Tracking {
+
+
+//-------------------------------------------------------------------------------------
+// ***** Sensor State
+// These values are reported as compatible with C API.
+
+// Bit flags describing the current status of sensor tracking.
+enum StatusBits
+{
+ // Tracked bits: Toggled by SensorFusion
+ Status_OrientationTracked = 0x0001, // Orientation is currently tracked (connected and in use)
+ Status_PositionTracked = 0x0002, // Position is currently tracked (false if out of range)
+ Status_CameraPoseTracked = 0x0004, // Camera pose is currently tracked
+
+ // Connected bits: Toggled by TrackingManager
+ Status_PositionConnected = 0x0020, // Position tracking HW is connected
+ Status_HMDConnected = 0x0080, // HMD is available & connected
+
+ // Masks
+ Status_AllMask = 0xffff,
+ Status_TrackingMask = Status_PositionTracked | Status_OrientationTracked | Status_CameraPoseTracked,
+ Status_ConnectedMask = Status_PositionConnected | Status_HMDConnected,
+};
+
+
+// Full state of of the sensor reported by GetSensorState() at a given absolute time.
+class TrackingState
+{
+public:
+ TrackingState() : HeadPose(), CameraPose(), LeveledCameraPose(), RawSensorData(), StatusFlags(0), LastVisionProcessingTime(0.0) { }
+
+ // C-interop support
+ TrackingState(const ovrTrackingState& s);
+ operator ovrTrackingState () const;
+
+ // HMD pose information for the requested time.
+ PoseStatef HeadPose;
+
+ // Orientation and position of the external camera, if present.
+ Posef CameraPose;
+ // Orientation and position of the camera after alignment with gravity
+ Posef LeveledCameraPose;
+
+ // Most recent sensor data received from the HMD
+ SensorDataType RawSensorData;
+
+ // Sensor status described by ovrStatusBits.
+ uint32_t StatusFlags;
+
+ //// 0.4.1
+
+ // Measures the time from receiving the camera frame until vision CPU processing completes.
+ double LastVisionProcessingTime;
+
+ //// 0.4.3
+
+ // Measures the time from exposure until the pose is available for the frame, including processing time.
+ double LastVisionFrameLatency;
+
+ // Tag the vision processing results to a certain frame counter number.
+ uint32_t LastCameraFrameCounter;
+};
+
+
+// -----------------------------------------------
+
+#pragma pack(push, 8)
+
+struct LocklessSensorStatePadding;
+
+// State version stored in lockless updater "queue" and used for
+// prediction by GetPoseAtTime/GetSensorStateAtTime
+struct LocklessSensorState
+{
+ PoseState<double> WorldFromImu;
+ SensorDataType RawSensorData;
+ Pose<double> WorldFromCamera;
+ uint32_t StatusFlags;
+ uint32_t _PAD_0_;
+
+ // ImuFromCpf for HMD pose tracking
+ Posed ImuFromCpf;
+
+ // Performance logging
+ double LastVisionProcessingTime;
+ double LastVisionFrameLatency;
+ uint32_t LastCameraFrameCounter;
+ uint32_t _PAD_1_;
+
+ // Initialized to invalid state
+ LocklessSensorState() :
+ WorldFromImu()
+ , RawSensorData()
+ , WorldFromCamera()
+ , StatusFlags(0)
+ , _PAD_0_(0) // This assignment should be irrelevant, but it quells static/runtime analysis complaints.
+ , ImuFromCpf()
+ , LastVisionProcessingTime(0.0)
+ , LastVisionFrameLatency(0.0)
+ , LastCameraFrameCounter(0)
+ , _PAD_1_(0) // "
+ {
+ }
+
+ LocklessSensorState& operator = (const LocklessSensorStatePadding& rhs);
+};
+
+static_assert((sizeof(LocklessSensorState) == sizeof(PoseState<double>) + sizeof(SensorDataType) + sizeof(Pose<double>) + 2*sizeof(uint32_t) + sizeof(Posed) + sizeof(double)*2 + sizeof(uint32_t)*2), "sizeof(LocklessSensorState) failure");
+
+// Padded out version stored in the updater slots
+// Designed to be a larger fixed size to allow the data to grow in the future
+// without breaking older compiled code.
+struct LocklessSensorStatePadding
+{
+ uint64_t words[64];
+
+ static const int DataWords = (sizeof(LocklessSensorState) + sizeof(uint64_t) - 1) / sizeof(uint64_t);
+
+ // Just copy the low data words
+ inline LocklessSensorStatePadding& operator=(const LocklessSensorState& rhs)
+ {
+ const uint64_t* src = (const uint64_t*)&rhs;
+
+ // if this fires off, then increase words' array size
+ OVR_ASSERT(sizeof(words) > sizeof(LocklessSensorState));
+
+ for (int i = 0; i < DataWords; ++i)
+ {
+ words[i] = src[i];
+ }
+
+ return *this;
+ }
+};
+
+// Just copy the low data words
+inline LocklessSensorState& LocklessSensorState::operator = (const LocklessSensorStatePadding& rhs)
+{
+ uint64_t* dest = (uint64_t*)this;
+
+ for (int i = 0; i < LocklessSensorStatePadding::DataWords; ++i)
+ {
+ dest[i] = rhs.words[i];
+ }
+
+ return *this;
+}
+
+#pragma pack(pop)
+
+// A lockless updater for sensor state
+typedef LocklessUpdater<LocklessSensorState, LocklessSensorStatePadding> SensorStateUpdater;
+
+
+//// Combined state
+
+struct CombinedSharedStateUpdater
+{
+ SensorStateUpdater SharedSensorState;
+ Util::LockessRecordUpdater SharedLatencyTestState;
+};
+
+typedef SharedObjectWriter< CombinedSharedStateUpdater > CombinedSharedStateWriter;
+typedef SharedObjectReader< CombinedSharedStateUpdater > CombinedSharedStateReader;
+
+
+}} // namespace OVR::Tracking
+
+#endif
diff --git a/LibOVR/Src/Tracking/Tracking_SensorStateReader.cpp b/LibOVR/Src/Tracking/Tracking_SensorStateReader.cpp
new file mode 100644
index 0000000..a506b26
--- /dev/null
+++ b/LibOVR/Src/Tracking/Tracking_SensorStateReader.cpp
@@ -0,0 +1,207 @@
+/************************************************************************************
+
+Filename : Tracking_SensorStateReader.cpp
+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.
+
+*************************************************************************************/
+
+#include "Tracking_SensorStateReader.h"
+#include "Tracking_PoseState.h"
+
+namespace OVR { namespace Tracking {
+
+
+//-------------------------------------------------------------------------------------
+
+// This is a "perceptually tuned predictive filter", which means that it is optimized
+// for improvements in the VR experience, rather than pure error. In particular,
+// jitter is more perceptible at lower speeds whereas latency is more perceptible
+// after a high-speed motion. Therefore, the prediction interval is dynamically
+// adjusted based on speed. Significant more research is needed to further improve
+// this family of filters.
+static Pose<double> calcPredictedPose(const PoseState<double>& poseState, double predictionDt)
+{
+ Pose<double> pose = poseState.ThePose;
+ const double linearCoef = 1.0;
+ Vector3d angularVelocity = poseState.AngularVelocity;
+ double angularSpeed = angularVelocity.Length();
+
+ // This could be tuned so that linear and angular are combined with different coefficients
+ double speed = angularSpeed + linearCoef * poseState.LinearVelocity.Length();
+
+ const double slope = 0.2; // The rate at which the dynamic prediction interval varies
+ double candidateDt = slope * speed; // TODO: Replace with smoothstep function
+
+ double dynamicDt = predictionDt;
+
+ // Choose the candidate if it is shorter, to improve stability
+ if (candidateDt < predictionDt)
+ {
+ dynamicDt = candidateDt;
+ }
+
+ if (angularSpeed > 0.001)
+ {
+ pose.Rotation = pose.Rotation * Quatd(angularVelocity, angularSpeed * dynamicDt);
+ }
+
+ pose.Translation += poseState.LinearVelocity * dynamicDt;
+
+ return pose;
+}
+
+
+//// SensorStateReader
+
+SensorStateReader::SensorStateReader() :
+ Updater(NULL),
+ LastLatWarnTime(0.)
+{
+}
+
+void SensorStateReader::SetUpdater(const CombinedSharedStateUpdater* updater)
+{
+ Updater = updater;
+}
+
+void SensorStateReader::RecenterPose()
+{
+ if (!Updater)
+ {
+ return;
+ }
+
+ /*
+ This resets position to center in x, y, z, and resets yaw to center.
+ Other rotation components are not affected.
+ */
+
+ const LocklessSensorState lstate = Updater->SharedSensorState.GetState();
+
+ Posed worldFromCpf = lstate.WorldFromImu.ThePose * lstate.ImuFromCpf;
+ double hmdYaw, hmdPitch, hmdRoll;
+ worldFromCpf.Rotation.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&hmdYaw, &hmdPitch, &hmdRoll);
+
+ Posed worldFromCentered(Quatd(Axis_Y, hmdYaw), worldFromCpf.Translation);
+
+ CenteredFromWorld = worldFromCentered.Inverted();
+}
+
+bool SensorStateReader::GetSensorStateAtTime(double absoluteTime, TrackingState& ss) const
+{
+ if (!Updater)
+ {
+ ss.StatusFlags = 0;
+ return false;
+ }
+
+ const LocklessSensorState lstate = Updater->SharedSensorState.GetState();
+
+ // Update time
+ ss.HeadPose.TimeInSeconds = absoluteTime;
+
+ // Update the status flags
+ ss.StatusFlags = lstate.StatusFlags;
+ // If no hardware is connected, override the tracking flags
+ if (0 == (ss.StatusFlags & Status_HMDConnected))
+ {
+ ss.StatusFlags &= ~Status_TrackingMask;
+ }
+ if (0 == (ss.StatusFlags & Status_PositionConnected))
+ {
+ ss.StatusFlags &= ~(Status_PositionTracked | Status_CameraPoseTracked);
+ }
+
+ // If tracking info is invalid,
+ if (0 == (ss.StatusFlags & Status_TrackingMask))
+ {
+ return false;
+ }
+
+ // Delta time from the last available data
+ double pdt = absoluteTime - lstate.WorldFromImu.TimeInSeconds;
+ static const double maxPdt = 0.1;
+
+ // If delta went negative due to synchronization problems between processes or just a lag spike,
+ if (pdt < 0.)
+ {
+ pdt = 0.;
+ }
+ else if (pdt > maxPdt)
+ {
+ if (LastLatWarnTime != lstate.WorldFromImu.TimeInSeconds)
+ {
+ LastLatWarnTime = lstate.WorldFromImu.TimeInSeconds;
+ LogText("[SensorStateReader] Prediction interval too high: %f s, clamping at %f s\n", pdt, maxPdt);
+ }
+ pdt = maxPdt;
+ }
+
+ ss.HeadPose = PoseStatef(lstate.WorldFromImu);
+ // Do prediction logic and ImuFromCpf transformation
+ ss.HeadPose.ThePose = Posef(CenteredFromWorld * calcPredictedPose(lstate.WorldFromImu, pdt) * lstate.ImuFromCpf);
+
+ ss.CameraPose = Posef(CenteredFromWorld * lstate.WorldFromCamera);
+
+ Posed worldFromLeveledCamera = Posed(Quatd(), lstate.WorldFromCamera.Translation);
+ ss.LeveledCameraPose = Posef(CenteredFromWorld * worldFromLeveledCamera);
+
+ ss.RawSensorData = lstate.RawSensorData;
+ ss.LastVisionProcessingTime = lstate.LastVisionProcessingTime;
+ ss.LastVisionFrameLatency = lstate.LastVisionFrameLatency;
+
+ return true;
+}
+
+bool SensorStateReader::GetPoseAtTime(double absoluteTime, Posef& transform) const
+{
+ TrackingState ss;
+ if (!GetSensorStateAtTime(absoluteTime, ss))
+ {
+ return false;
+ }
+
+ transform = ss.HeadPose.ThePose;
+
+ return true;
+}
+
+uint32_t SensorStateReader::GetStatus() const
+{
+ if (!Updater)
+ {
+ return 0;
+ }
+
+ const LocklessSensorState lstate = Updater->SharedSensorState.GetState();
+
+ // If invalid,
+ if (0 == (lstate.StatusFlags & Status_TrackingMask))
+ {
+ // Return 0 indicating no orientation nor position tracking
+ return 0;
+ }
+
+ return lstate.StatusFlags;
+}
+
+}} // namespace OVR::Tracking
diff --git a/LibOVR/Src/Tracking/Tracking_SensorStateReader.h b/LibOVR/Src/Tracking/Tracking_SensorStateReader.h
new file mode 100644
index 0000000..c2922c8
--- /dev/null
+++ b/LibOVR/Src/Tracking/Tracking_SensorStateReader.h
@@ -0,0 +1,87 @@
+/************************************************************************************
+
+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