Adding a choice of centering method

1 files changed, 6 insertions, 4 deletions

diff --git a/logic/pipeline.hpp b/logic/pipeline.hpp
index 7775054e..7b3703ee 100644
--- a/logic/pipeline.hpp
+++ b/logic/pipeline.hpp
@@ -20,6 +20,7 @@
 
 #include <atomic>
 #include <cmath>
+#include <QQuaternion>
 
 #include "export.hpp"
 
@@ -99,8 +100,9 @@ class OTR_LOGIC_EXPORT pipeline : private QThread
     reltrans rel;
 
     struct {
-        rmat inv_R = rmat::eye();
-        Pose_ T;
+		Pose P;
+		QQuaternion QC = QQuaternion(1,0,0,0);
+		QQuaternion QR = QQuaternion(1,0,0,0);
     } center;
 
     time_units::ms backlog_time {};
@@ -111,8 +113,8 @@ class OTR_LOGIC_EXPORT pipeline : private QThread
     void logic();
     void run() override;
     bool maybe_enable_center_on_tracking_started();
-    void maybe_set_center_pose(const Pose& value, bool own_center_logic);
-    Pose apply_center(Pose value) const;
+    void maybe_set_center_pose(const centering_state mode, const Pose& value, bool own_center_logic);
+    Pose apply_center(const centering_state mode, Pose value) const;
     std::tuple<Pose, Pose, vec6_bool> get_selected_axis_values(const Pose& newpose) const;
     Pose maybe_apply_filter(const Pose& value) const;
     Pose apply_reltrans(Pose value, vec6_bool disabled, bool centerp);