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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