AndroidHeadingTracker3DOF.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_DEVICES_ANDROID_ANDROID_HEADING_TRACKER_3_DOF_H
#define META_OCEAN_DEVICES_ANDROID_ANDROID_HEADING_TRACKER_3_DOF_H
 
#include "ocean/devices/android/Android.h"
#include "ocean/devices/android/AndroidSensor.h"
 
#include "ocean/devices/OrientationTracker3DOF.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace Android
{
 
/**
 * This class implements a tracker providing the heading/north direction as 3-DOF orientation.
 * The resulting transformation (3DOF orientation) is defined w.r.t. the device's coordinate system and rotates the negative z-axis so that it points towards true north (the rotated positive z-axis points towards south).
 * @ingroup devicesandroid
 */
class OCEAN_DEVICES_EXPORT AndroidHeadingTracker3DOF :
    virtual public AndroidSensor,
    virtual public OrientationTracker3DOF
{
    friend class AndroidFactory;
 
    public:
 
        /**
         * Returns the name of this tracker.
         * @return The tracker's name
         */
        static inline std::string deviceNameAndroidHeadingTracker3DOF();
 
    protected:
 
        /**
         * Creates a new 3DOF heading tracker device.
         * @param sensor The Android sensor providing the sensor measurements, must be valid
         */
        explicit AndroidHeadingTracker3DOF(const ASensor* sensor);
 
        /**
         * Destructs a 3DOF heading tracker device.
         */
        ~AndroidHeadingTracker3DOF() override;
 
        /**
         * The actual event function of this device.
         * @see AndroidDevice::onEventFunction().
         */
        int onEventFunction() override;
 
    protected:
 
        /// The Android event timestamp of the first sensor event.
        int64_t firstAndroidEventTimestamp_ = 0ll;
 
        /// The Unix event timestamp of the first sensor event.
        Timestamp firstUnixEventTimestamp_ = Timestamp(false);
};
 
inline std::string AndroidHeadingTracker3DOF::deviceNameAndroidHeadingTracker3DOF()
{
    return std::string("Android 3DOF Heading Tracker");
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ANDROID_ANDROID_ORIENTATION_TRACKER_3_DOF_H