GravityTracker3DOF.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_GRAVITY_TRACKER_3DOF_H
#define META_OCEAN_DEVICES_GRAVITY_TRACKER_3DOF_H
 
#include "ocean/devices/Devices.h"
#include "ocean/devices/DeviceRef.h"
#include "ocean/devices/Tracker.h"
 
#include "ocean/base/StackHeapVector.h"
 
#include "ocean/math/Vector3.h"
 
namespace Ocean
{
 
namespace Devices
{
 
// Forward declaration.
class GravityTracker3DOF;
 
/**
 * Definition of a smart object reference for a 3DOF gravity tracker.
 * @see GravityTracker3DOF.
 * @ingroup devices
 */
using GravityTracker3DOFRef = SmartDeviceRef<GravityTracker3DOF>;
 
/**
 * This class is the base class for all 3DOF gravity trackers.
 * A gravity tracker provides the gravity direction (normalized gravity vector) in the device's coordinate system.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT GravityTracker3DOF : virtual public Tracker
{
    public:
 
        /**
         * Definition of a sample holding 3DOF gravity measurements.
         */
        class OCEAN_DEVICES_EXPORT GravityTracker3DOFSample : virtual public Tracker::TrackerSample
        {
            public:
 
                /**
                 * Definition of a vector holding gravity values.
                 */
                using Gravities = StackHeapVector<Vector3, 1>;
 
            public:
 
                /**
                 * Creates a new 3DOF gravity sample.
                 * @param timestamp Sample timestamp
                 * @param referenceSystem Tracking reference system used by the underlying tracker
                 * @param objectIds Measurement unit object ids each id corresponds to a different gravity measurement
                 * @param gravities Sample gravity measurements (normalized gravity vectors)
                 * @param metadata Optional metadata of the new sample
                 */
                GravityTracker3DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, const ObjectIds& objectIds, const Gravities& gravities, const Metadata& metadata = Metadata());
 
                /**
                 * Creates a new 3DOF gravity sample.
                 * @param timestamp Sample timestamp
                 * @param referenceSystem Tracking reference system used by the underlying tracker
                 * @param objectIds Measurement unit object ids each id corresponds to a different gravity measurement
                 * @param gravities Sample gravity measurements (normalized gravity vectors)
                 * @param metadata Optional metadata of the new sample
                 */
                GravityTracker3DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, ObjectIds&& objectIds, Gravities&& gravities, Metadata&& metadata = Metadata());
 
                /**
                 * Returns all 3DOF gravity measurement values.
                 * Each 3DOF measurement corresponds to a different object id.
                 * @return Gravity measurement values (normalized gravity vectors)
                 */
                inline const Gravities& gravities() const;
 
            protected:
 
                /// Gravity measurement values stored as normalized vectors.
                Gravities gravities_;
        };
 
        /**
         * Definition of a smart object reference for 3DOF gravity tracker samples.
         */
        using GravityTracker3DOFSampleRef = SmartObjectRef<GravityTracker3DOFSample, Sample>;
 
    public:
 
        /**
         * Returns the device type of this tracker.
         * @return Device type
         */
        static inline DeviceType deviceTypeGravityTracker3DOF();
 
    protected:
 
        /**
         * Creates a new 3DOF gravity tracker object.
         * @param name The name of the gravity tracker, must be valid
         */
        explicit GravityTracker3DOF(const std::string& name);
 
        /**
         * Destructs a 3DOF gravity tracker object.
         */
        ~GravityTracker3DOF() override;
 
        /**
         * Interpolates between two 3DOF gravity tracker samples.
         * @see Measurement::interpolateSamples().
         */
        SampleRef interpolateSamples(const SampleRef& lowerSample, const SampleRef& upperSample, const double interpolationFactor, const Timestamp& interpolatedTimestamp) const override;
};
 
inline GravityTracker3DOF::DeviceType GravityTracker3DOF::deviceTypeGravityTracker3DOF()
{
    return DeviceType(DEVICE_TRACKER, TRACKER_GRAVITY_3DOF);
}
 
inline const GravityTracker3DOF::GravityTracker3DOFSample::Gravities& GravityTracker3DOF::GravityTracker3DOFSample::gravities() const
{
    return gravities_;
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_GRAVITY_TRACKER_3DOF_H