mirror of
https://github.com/Next-Flip/Momentum-Firmware.git
synced 2026-04-25 03:29:58 -07:00
57 lines
1.6 KiB
C++
57 lines
1.6 KiB
C++
/*
|
|
* Copyright 2019 Google Inc. All Rights Reserved.
|
|
*
|
|
* Licensed under the Apache License, Version 2.0 (the "License");
|
|
* you may not use this file except in compliance with the License.
|
|
* You may obtain a copy of the License at
|
|
*
|
|
* http://www.apache.org/licenses/LICENSE-2.0
|
|
*
|
|
* Unless required by applicable law or agreed to in writing, software
|
|
* 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 CARDBOARD_SDK_SENSORS_POSE_STATE_H_
|
|
#define CARDBOARD_SDK_SENSORS_POSE_STATE_H_
|
|
|
|
#include "../util/rotation.h"
|
|
#include "../util/vector.h"
|
|
|
|
namespace cardboard {
|
|
|
|
enum {
|
|
kPoseStateFlagInvalid = 1U << 0,
|
|
kPoseStateFlagInitializing = 1U << 1,
|
|
kPoseStateFlagHas6DoF = 1U << 2,
|
|
};
|
|
|
|
// Stores a head pose pose plus derivatives. This can be used for prediction.
|
|
struct PoseState {
|
|
// System wall time.
|
|
int64_t timestamp;
|
|
|
|
// Rotation from Sensor Space to Start Space.
|
|
Rotation sensor_from_start_rotation;
|
|
|
|
// First derivative of the rotation.
|
|
Vector3 sensor_from_start_rotation_velocity;
|
|
|
|
// Current gyroscope bias in rad/s.
|
|
Vector3 bias;
|
|
|
|
// The position of the headset.
|
|
Vector3 position = Vector3(0, 0, 0);
|
|
|
|
// In the same coordinate frame as the position.
|
|
Vector3 velocity = Vector3(0, 0, 0);
|
|
|
|
// Flags indicating the status of the pose.
|
|
uint64_t flags = 0U;
|
|
};
|
|
|
|
} // namespace cardboard
|
|
|
|
#endif // CARDBOARD_SDK_SENSORS_POSE_STATE_H_
|