PositionTracker3DOF.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_POSITION_TRACKER_3DOF_H
#define META_OCEAN_DEVICES_POSITION_TRACKER_3DOF_H
 
#include "ocean/devices/Devices.h"
#include "ocean/devices/Tracker.h"
 
#include "ocean/base/StackHeapVector.h"
 
#include "ocean/math/Vector3.h"
 
namespace Ocean
{
 
namespace Devices
{
 
// Forward declaration.
class PositionTracker3DOF;
 
/**
 * Definition of a smart object reference for a 3DOF position tracker.
 * @see PositionTracker3DOF.
 * @ingroup devices
 */
using PositionTracker3DOFRef = SmartDeviceRef<PositionTracker3DOF>;
 
/**
 * This class is the base class for all 3DOF position trackers.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT PositionTracker3DOF : virtual public Tracker
{
    public:
 
        /**
         * Definition of a sample holding 3DOF position measurements.
         */
        class OCEAN_DEVICES_EXPORT PositionTracker3DOFSample : virtual public Tracker::TrackerSample
        {
            public:
 
                /**
                 * Definition of a vector holding position values.
                 */
                using Positions = StackHeapVector<Vector3, 1>;
 
            public:
 
                /**
                 * Creates a new 3DOF position 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 position measurement
                 * @param positions Sample position measurements in meter
                 * @param metadata Optional metadata of the new sample
                 */
                PositionTracker3DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, const ObjectIds& objectIds, const Positions& positions, const Metadata& metadata = Metadata());
 
                /**
                 * Creates a new 3DOF position 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 position measurement
                 * @param positions Sample position measurements in meter
                 * @param metadata Optional metadata of the new sample
                 */
                PositionTracker3DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, ObjectIds&& objectIds, Positions&& positions, Metadata&& metadata = Metadata());
 
                /**
                 * Returns all 3DOF position measurement values.
                 * Each 3DOF measurement corresponds to a different object id.
                 * @return Position measurement value in meter
                 */
                inline const Positions& positions() const;
 
            protected:
 
                /// position measurement values stored in meter.
                Positions positions_;
        };
 
        /**
         * Definition of a smart object reference for 3DOF position tracker samples.
         */
        using PositionTracker3DOFSampleRef = SmartObjectRef<PositionTracker3DOFSample, Sample>;
 
    public:
 
        /**
         * Returns the device type of this tracker.
         * @return Device type
         */
        static inline DeviceType deviceTypePositionTracker3DOF();
 
    protected:
 
        /**
         * Creates a new 3DOF position tracker object.
         * @param name The name of the position tracker, must be valid
         */
        explicit PositionTracker3DOF(const std::string& name);
 
        /**
         * Destructs a 3DOF position tracker object.
         */
        ~PositionTracker3DOF() override;
 
        /**
         * Interpolates between two 3DOF position tracker samples.
         * @see Measurement::interpolateSamples().
         */
        SampleRef interpolateSamples(const SampleRef& lowerSample, const SampleRef& upperSample, const double interpolationFactor, const Timestamp& interpolatedTimestamp) const override;
};
 
inline PositionTracker3DOF::DeviceType PositionTracker3DOF::deviceTypePositionTracker3DOF()
{
    return DeviceType(DEVICE_TRACKER, TRACKER_POSITION_3DOF);
}
 
inline const PositionTracker3DOF::PositionTracker3DOFSample::Positions& PositionTracker3DOF::PositionTracker3DOFSample::positions() const
{
    return positions_;
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_POSITION_TRACKER_3DOF_H