OrientationTracker3DOF.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_ORIENTATION_TRACKER_3DOF_H
#define META_OCEAN_DEVICES_ORIENTATION_TRACKER_3DOF_H
 
#include "ocean/devices/Devices.h"
#include "ocean/devices/Tracker.h"
 
#include "ocean/base/StackHeapVector.h"
 
#include "ocean/math/Quaternion.h"
 
namespace Ocean
{
 
namespace Devices
{
 
// Forward declaration.
class OrientationTracker3DOF;
 
/**
 * Definition of a 3DOF orientation tracker reference object.
 * @see OrientationTracker3DOF.
 * @ingroup devices
 */
using OrientationTracker3DOFRef = SmartObjectRef<OrientationTracker3DOF, Device>;
 
/**
 * This class is the base class for all 3DOF orientation tracker objects.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT OrientationTracker3DOF : virtual public Tracker
{
    public:
 
        /**
         * Definition of a sample holding 3DOF orientation measurements.
         */
        class OCEAN_DEVICES_EXPORT OrientationTracker3DOFSample : virtual public TrackerSample
        {
            public:
 
                /**
                 * Definition of a vector holding orientation values.
                 */
                using Orientations = StackHeapVector<Quaternion, 1>;
 
            public:
 
                /**
                 * Creates a new 3DOF orientation 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 orientation measurement
                 * @param orientations Sample orientation measurements
                 * @param metadata Optional metadata of the new sample
                 */
                OrientationTracker3DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, const ObjectIds& objectIds, const Orientations& orientations, const Metadata& metadata = Metadata());
 
                /**
                 * Creates a new 3DOF orientation 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 orientation measurement
                 * @param orientations Sample orientation measurements
                 * @param metadata Optional metadata of the new sample
                 */
                OrientationTracker3DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, ObjectIds&& objectIds, Orientations&& orientations, Metadata&& metadata = Metadata());
 
                /**
                 * Returns the 3DOF orientation measurement values.
                 * Each 3DOF measurement corresponds to a different object id.
                 * @return Orientation measurement values as quaternion
                 */
                inline const Orientations& orientations() const;
 
            protected:
 
                /// Orientation measurement values stored as unit quaternion.
                Orientations orientations_;
        };
 
        /**
         * Definition of a smart object reference for 3DOF orientation tracker samples.
         */
        using OrientationTracker3DOFSampleRef = SmartObjectRef<OrientationTracker3DOFSample, Sample>;
 
    public:
 
        /**
         * Return the device type of this tracker.
         * @return Device type
         */
        static inline DeviceType deviceTypeOrientationTracker3DOF();
 
    protected:
 
        /**
         * Creates a new 3DOF orientation tracker object.
         * @param name The name of the orientation tracker, must be valid
         */
        explicit OrientationTracker3DOF(const std::string& name);
 
        /**
         * Destructs a 3DOF orientation tracker.
         */
        ~OrientationTracker3DOF() override;
 
        /**
         * Interpolates between two 3DOF orientation tracker samples.
         * @see Measurement::interpolateSamples().
         */
        SampleRef interpolateSamples(const SampleRef& lowerSample, const SampleRef& upperSample, const double interpolationFactor, const Timestamp& interpolatedTimestamp) const override;
};
 
inline OrientationTracker3DOF::DeviceType OrientationTracker3DOF::deviceTypeOrientationTracker3DOF()
{
    return DeviceType(DEVICE_TRACKER, TRACKER_ORIENTATION_3DOF);
}
 
inline const OrientationTracker3DOF::OrientationTracker3DOFSample::Orientations& OrientationTracker3DOF::OrientationTracker3DOFSample::orientations() const
{
    return orientations_;
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_ORIENTATION_TRACKER_3DOF_H