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https://github.com/Next-Flip/Momentum-Firmware.git
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56 lines
2.1 KiB
C++
56 lines
2.1 KiB
C++
/*
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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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#ifndef CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_
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#define CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_
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#include <cstdint>
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#include "pose_state.h"
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#include "../util/rotation.h"
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namespace cardboard {
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namespace pose_prediction {
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// Returns a rotation matrix based on the integration of the gyroscope_value
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// over the timestep_s in seconds.
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// TODO(pfg): Document the space better here.
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//
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// @param gyroscope_value gyroscope sensor values.
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// @param timestep_s integration period in seconds.
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// @return Integration of the gyroscope value the rotation is from Start to
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// Sensor Space.
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Rotation GetRotationFromGyroscope(const Vector3& gyroscope_value, double timestep_s);
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// Gets a predicted pose for a given time in the future (e.g. rendering time)
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// based on a linear prediction model. This uses the system current state
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// (position, velocity, etc) from the past to extrapolate a position in the
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// future.
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//
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// @param requested_pose_timestamp time at which you want the pose.
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// @param current_state current state that stores the pose and linear model at a
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// given time prior to requested_pose_timestamp_ns.
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// @return pose from Start to Sensor Space.
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Rotation PredictPose(int64_t requested_pose_timestamp, const PoseState& current_state);
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// Equivalent to PredictPose, but for use with poses relative to Start Space
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// rather than sensor space.
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Rotation PredictPoseInv(int64_t requested_pose_timestamp, const PoseState& current_state);
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} // namespace pose_prediction
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} // namespace cardboard
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#endif // CARDBOARD_SDK_SENSORS_POSE_PREDICTION_H_
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