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+/************************************************************************************
+
+Filename    :   Vision_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 OVR_Vision_SensorStateReader_h
+#define OVR_Vision_SensorStateReader_h
+
+#include "Kernel/OVR_Lockless.h"
+#include "Vision_SensorState.h"
+
+#include "OVR_Profile.h"
+
+
+// CAPI forward declarations.
+struct ovrTrackingState_;
+typedef struct ovrTrackingState_ ovrTrackingState;
+
+namespace OVR { namespace Vision {
+
+
+//-----------------------------------------------------------------------------
+// TrackingStateReader
+
+// Full output of tracking reported by GetSensorStateAtTime()
+class TrackingState
+{
+public:
+    TrackingState() : StatusFlags(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;
+
+};
+
+// User interface to retrieve pose from the sensor fusion subsystem
+class TrackingStateReader : public NewOverrideBase
+{
+protected:
+    const CombinedHmdUpdater* HmdUpdater;
+    const CameraStateUpdater* CameraUpdater;
+
+    // Transform from real-world coordinates to centered coordinates
+    Posed CenteredFromWorld; 
+    static Posed DefaultWorldFromCentered;
+
+public:
+    TrackingStateReader();
+
+    // Initialize the updaters
+    void SetUpdaters(const CombinedHmdUpdater *hmd, const CameraStateUpdater *camera);
+
+
+    // Re-centers on the current yaw and translation, taking
+    // the head-neck model into account.
+    bool         RecenterPose(const Vector3d& neckModeloffset);
+
+    // Computes CenteredFromWorld from a worldFromCpf pose and neck model offset
+    bool         ComputeCenteredFromWorld(const Posed& worldFromCpf, const Vector3d& neckModelOffset);
+
+    // Get the full dynamical system state of the CPF, which includes velocities and accelerations,
+    // predicted at a specified absolute point in time.
+    bool         GetTrackingStateAtTime(double absoluteTime, 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;
+
+    Posed GetCenteredFromWorld() const
+    {
+        return CenteredFromWorld;
+    }
+
+    Posed GetDefaultCenteredFromWorld() const
+    {
+        return DefaultWorldFromCentered.Inverted();
+    }
+};
+
+
+}} // namespace OVR::Vision
+
+#endif // Vision_SensorStateReader_h