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+/************************************************************************************
+
+Filename    :   OVR_SensorCalibration.h
+Content     :   Calibration data implementation for the IMU messages 
+Created     :   January 28, 2014
+Authors     :   Max Katsev
+
+Copyright   :   Copyright 2014 Oculus VR, Inc. All Rights reserved.
+
+Licensed under the Oculus VR Rift SDK License Version 3.1 (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-3.1 
+
+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 OVR_SensorCalibration_h
+#define OVR_SensorCalibration_h
+
+#include "OVR_Device.h"
+#include "OVR_SensorFilter.h"
+
+namespace OVR {
+
+class OffsetInterpolator
+{
+public:
+    void Initialize(Array<Array<TemperatureReport> > const& temperatureReports, int coord);
+    double GetOffset(double targetTemperature, double autoTemperature, double autoValue);
+
+    Array<double> Temperatures;
+    Array<double> Values;
+};
+
+class SensorCalibration : public NewOverrideBase
+{
+public:
+    SensorCalibration(SensorDevice* pSensor);
+
+    // Load data from the HW and perform the necessary preprocessing
+    void Initialize();
+    // Apply the calibration
+    void Apply(MessageBodyFrame& msg);
+
+protected:
+    void StoreAutoOffset();
+    void AutocalibrateGyro(MessageBodyFrame const& msg);
+
+    SensorDevice* pSensor;
+
+    // Factory calibration data
+    bool MagCalibrated;
+    Matrix4f AccelMatrix, GyroMatrix, MagMatrix;
+    Vector3f AccelOffset;
+    
+    // Temperature based data
+    Array<Array<TemperatureReport> > temperatureReports;
+    OffsetInterpolator Interpolators[3];
+
+    // Autocalibration data
+    SensorFilterf GyroFilter;
+    Vector3f GyroAutoOffset;
+    float GyroAutoTemperature;
+};
+
+} // namespace OVR
+#endif //OVR_SensorCalibration_h