Gravities.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_TRACKING_SLAM_GRAVITIES_H
#define META_OCEAN_TRACKING_SLAM_GRAVITIES_H
 
#include "ocean/tracking/slam/SLAM.h"
#include "ocean/tracking/slam/Mutex.h"
 
namespace Ocean
{
 
namespace Tracking
{
 
namespace SLAM
{
 
/**
 * This class implements a container for gravity vectors associated with frame indices.
 * The object is thread-safe.
 * @ingroup trackingslam
 */
class OCEAN_TRACKING_SLAM_EXPORT Gravities
{
    public:
 
        /**
         * Definition of an unordered map mapping frame indices to gravity vectors.
         */
        using GravityMap = std::unordered_map<Index32, Vector3>;
 
    public:
 
        /**
         * Sets the gravity vector for a specific frame index.
         * @param frameIndex The index of the frame for which the gravity will be set, with range [0, infinity)
         * @param gravity The gravity vector to set
         * @return True, always
         */
        inline bool setGravity(const Index32 frameIndex, const Vector3& gravity);
 
        /**
         * Returns whether this container holds a gravity vector for a specific frame index.
         * @param frameIndex The index of the frame for which the gravity will be checked, with range [0, infinity)
         * @param gravity Optional pointer to receive the gravity vector if it exists, nullptr to skip
         * @return True, if the gravity vector exists for the specified frame index
         */
        inline bool hasGravity(const Index32 frameIndex, Vector3* gravity) const;
 
    protected:
 
        /// The map mapping frame indices to gravity vectors.
        GravityMap gravityMap_;
 
        /// The mutex of this object.
        mutable Mutex mutex_;
};
 
inline bool Gravities::setGravity(const Index32 frameIndex, const Vector3& gravity)
{
    const WriteLock writeLock(mutex_);
 
    gravityMap_[frameIndex] = gravity;
 
    return true;
}
 
inline bool Gravities::hasGravity(const Index32 frameIndex, Vector3* gravity) const
{
    const ReadLock readLock(mutex_);
 
    const GravityMap::const_iterator iGravity = gravityMap_.find(frameIndex);
 
    if (iGravity == gravityMap_.cend())
    {
        return false;
    }
 
    if (gravity != nullptr)
    {
        *gravity = iGravity->second;
    }
 
    return true;
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TRACKING_SLAM_GRAVITIES_H