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https://github.com/UberGuidoZ/Flipper.git
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69 lines
2.0 KiB
C
69 lines
2.0 KiB
C
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/*
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* Copyright 2019 Google Inc. All Rights Reserved.
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#pragma once
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#include <array>
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#include <memory>
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#include <mutex> // NOLINT
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#include "sensors/accelerometer_data.h"
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#include "sensors/gyroscope_data.h"
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#include "sensors/sensor_fusion_ekf.h"
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#include "util/rotation.h"
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namespace cardboard {
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// OrientationTracker encapsulates pose tracking by connecting sensors
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// to SensorFusion.
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// This pose tracker reports poses in display space.
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class OrientationTracker {
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public:
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OrientationTracker(const long sampling_period_ns);
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void SetCalibration(const Vector3& calibration);
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// Pauses tracking and sensors.
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void Pause();
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// Resumes tracking ans sensors.
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void Resume();
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// Gets the predicted pose for a given timestamp.
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Vector4 GetPose(int64_t timestamp_ns) const;
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// Function called when receiving AccelerometerData.
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//
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// @param event sensor event.
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void OnAccelerometerData(const AccelerometerData& event);
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// Function called when receiving GyroscopeData.
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//
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// @param event sensor event.
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Vector4 OnGyroscopeData(const GyroscopeData& event);
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private:
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long sampling_period_ns_;
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Vector3 calibration_;
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std::atomic<bool> is_tracking_;
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// Sensor Fusion object that stores the internal state of the filter.
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std::unique_ptr<SensorFusionEkf> sensor_fusion_;
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// Latest gyroscope data.
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GyroscopeData latest_gyroscope_data_;
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};
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} // namespace cardboard
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