/************************************************************************************ 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, 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 Tracking_SensorStateReader_h #define Tracking_SensorStateReader_h #include "../Kernel/OVR_Lockless.h" #include "Tracking_SensorState.h" namespace OVR { namespace Tracking { //----------------------------------------------------------------------------- // SensorStateReader // User interface to retrieve pose from the sensor fusion subsystem class SensorStateReader : public NewOverrideBase { protected: const CombinedSharedStateUpdater *Updater; // Transform from real-world coordinates to centered coordinates Posed CenteredFromWorld; // Last latency warning time mutable double LastLatWarnTime; 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; }; }} // namespace OVR::Tracking #endif // Tracking_SensorStateReader_h