IOSOrientationTracker3DOF.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_IOS_IOS_ORIENTATION_TRACKER_3_DOF_H
#define META_OCEAN_DEVICES_IOS_IOS_ORIENTATION_TRACKER_3_DOF_H
 
#include "ocean/devices/ios/IOS.h"
#include "ocean/devices/ios/IOSDevice.h"
#include "ocean/devices/ios/MotionManager.h"
 
#include "ocean/devices/OrientationTracker3DOF.h"
 
namespace Ocean
{
 
namespace Devices
{
 
namespace IOS
{
 
/**
 * This class implements all 3DOF orientation tracker purely based on the IMU information of the device.
 * The resulting transformation (3DOF orientation) is defined w.r.t. the world coordinate system.<br>
 * That means the transformation will transform points defined in the coordinate system of the device into points defined in the world coordinate system (pointWorld = wTd * pointDevice).<br>
 * When holding the device (in portrait mode), the x-axis points towards the right of the device, the y-axis points upwards, and the z-axis points towards the user:<br>
 * <pre>
 *          device top
 * ...........................
 * .                         .
 * .         ^               .
 * .       Y |               .
 * .         |               .
 * .         |               .
 * .         O --------->    .
 * .        /        X       .
 * .       / Z               .
 * .      v                  .
 * .                         .
 * ...........................
 * .      home button        .
 * ...........................
 *       device bottom
 * </pre>
 * The x-axis and y-axis of the world coordinate system will be arbitrary.<br>
 * The negative z-axis of the world coordinate system will always point towards the ground (the negative z-axis is identical with the gravity vector).
 *
 * Beware: The coordinate system of the camera may be different from the coordinate system of the device.<br>
 * E.g., the image of an iPhone camera is commonly located in the upper right corner of the device,<br>
 * with horizontal image axis pointing to the bottom of the device (along the negative y-axis of the device),
 * and with vertical image axis pointing to the left of the device (along the negative x-axis of the device).
 * @ingroup devicesios
 */
class OCEAN_DEVICES_IOS_EXPORT IOSOrientationTracker3DOF :
    virtual public IOSDevice,
    virtual public OrientationTracker3DOF
{
    friend class IOSFactory;
 
    public:
 
        /**
         * Starts the device.
         * @see Device::start().
         */
        bool start() override;
 
        /**
         * Pauses the device.
         * @see Device::pause().
         */
        bool pause() override;
 
        /**
         * Stops the device.
         * @see Device::stop().
         */
        bool stop() override;
 
        /**
         * Returns the name of this sensor.
         * @return The sensor's name
         */
        static inline std::string deviceNameIOSOrientationTracker3DOF();
 
    protected:
 
        /**
         * Creates a new 3DOF orientation tracker device.
         */
        IOSOrientationTracker3DOF();
 
        /**
         * Destructs a 3DOF orientation sensor device.
         */
        ~IOSOrientationTracker3DOF() override;
 
    private:
 
        /**
         * Callback function for obtaining new samples from the device.
         * @param deviceMotion iOS DeviceMotion readout
         */
        void onDeviceMotion(CMDeviceMotion* deviceMotion);
 
    private:
 
        // Callback id for this tracker.
        MotionManager::ListenerId deviceMotionListenerId_ = MotionManager::invalidListenerId();
 
        /// The object id of this tracker.
        ObjectId trackerObjectId_ = invalidObjectId();
};
 
inline std::string IOSOrientationTracker3DOF::deviceNameIOSOrientationTracker3DOF()
{
    return std::string("IOS 3DOF Orientation Tracker");
}
 
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_IOS_IOS_ORIENTATION_TRACKER_3_DOF_H