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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);
- // Is mag calibration available?
- bool IsMagCalibrated() { return MagCalibrated; }
-
-protected:
- void StoreAutoOffset();
- void AutocalibrateGyro(MessageBodyFrame const& msg);
-
- void DebugPrintLocalTemperatureTable();
- void DebugClearHeadsetTemperatureReports();
-
- 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