Tracker6DOF.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_TRACKER_6DOF_H
#define META_OCEAN_DEVICES_TRACKER_6DOF_H
 
#include "ocean/devices/Devices.h"
#include "ocean/devices/DeviceRef.h"
#include "ocean/devices/OrientationTracker3DOF.h"
#include "ocean/devices/PositionTracker3DOF.h"
 
namespace Ocean
{
 
namespace Devices
{
 
// Forward declaration.
class Tracker6DOF;
 
/**
 * Definition of a smart object reference for a 6DOF tracker.
 * @see Tracker6DOF.
 * @ingroup devices
 */
using Tracker6DOFRef = SmartDeviceRef<Tracker6DOF>;
 
/**
 * This class implements the base for all 6DOF trackers.
 * @ingroup devices
 */
class OCEAN_DEVICES_EXPORT Tracker6DOF :
    virtual public OrientationTracker3DOF,
    virtual public PositionTracker3DOF
{
    public:
 
        /**
         * Definition of a sample holding one single 6DOF tracker measurement.
         */
        class OCEAN_DEVICES_EXPORT Tracker6DOFSample :
            virtual public OrientationTracker3DOF::OrientationTracker3DOFSample,
            virtual public PositionTracker3DOF::PositionTracker3DOFSample
        {
            public:
 
                /**
                 * Creates a new 6DOF tracker 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 and position measurement
                 * @param orientations Sample orientation measurements
                 * @param positions Sample position measurements in meter
                 * @param metadata Optional metadata of the new sample
                 */
                Tracker6DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, const ObjectIds& objectIds, const Orientations& orientations, const Positions& positions, const Metadata& metadata = Metadata());
 
                /**
                 * Creates a new 6DOF tracker 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 and position measurement
                 * @param orientations Sample orientation measurements
                 * @param positions Sample position measurements in meter
                 * @param metadata Optional metadata of the new sample
                 */
                Tracker6DOFSample(const Timestamp& timestamp, const ReferenceSystem referenceSystem, ObjectIds&& objectIds, Orientations&& orientations, Positions&& positions, Metadata&& metadata = Metadata());
        };
 
        /**
         * Definition of a smart object reference for 6DOF tracker samples.
         */
        using Tracker6DOFSampleRef = SmartObjectRef<Tracker6DOFSample, Sample>;
 
    public:
 
        /**
         * Definition of this device type.
         */
        static inline DeviceType deviceTypeTracker6DOF();
 
    protected:
 
        /**
         * Creates a new 6DOF tracker object.
         * @param name The name of the 6DOF tracker, must be valid
         */
        explicit Tracker6DOF(const std::string& name);
 
        /**
         * Destructs a 6DOF tracker object.
         */
        ~Tracker6DOF() override;
 
        /**
         * Interpolates between two 6DOF tracker samples.
         * @see Measurement::interpolateSamples().
         */
        SampleRef interpolateSamples(const SampleRef& lowerSample, const SampleRef& upperSample, const double interpolationFactor, const Timestamp& interpolatedTimestamp) const override;
};
 
inline Tracker6DOF::DeviceType Tracker6DOF::deviceTypeTracker6DOF()
{
    return Device::DeviceType(DEVICE_TRACKER, TRACKER_6DOF);
}
 
}
 
}
 
#endif // META_OCEAN_DEVICES_TRACKER_6DOF_H