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/********************************************************************************
* FaceTrackNoIR This program is a private project of the some enthusiastic *
* gamers from Holland, who don't like to pay much for *
* head-tracking. *
* *
* Copyright (C) 2010 Wim Vriend (Developing) *
* Ron Hendriks (Researching and Testing) *
* *
* Homepage *
* *
* This program is free software; you can redistribute it and/or modify it *
* under the terms of the GNU General Public License as published by the *
* Free Software Foundation; either version 3 of the License, or (at your *
* option) any later version. *
* *
* This program is distributed in the hope that it will be useful, but *
* WITHOUT ANY WARRANTY; without even the implied warranty of MERCHANTABILITY *
* or FITNESS FOR A PARTICULAR PURPOSE. See the GNU General Public License for *
* more details. *
* *
* You should have received a copy of the GNU General Public License along *
* with this program; if not, see <http://www.gnu.org/licenses/>. *
* This class implements a tracker-base *
*********************************************************************************/
/*
Modifications (last one on top):
20110415 - WVR: Added overloaded operator - and -=
*/
#ifndef FTNOIR_TRACKER_TYPES_H
#define FTNOIR_TRACKER_TYPES_H
//
// x,y,z position in centimetres, yaw, pitch and roll in degrees...
//
#pragma pack(push, 2)
struct THeadPoseData {
double x, y, z, yaw, pitch, roll;
long frame_number;
};
#pragma pack(pop)
//
// Structure to hold all 6 DOF's
//
class T6DOF {
public:
T6DOF( double x, double y, double z,
double yaw, double pitch, double roll ) {
position.x = x;
position.y = y;
position.z = z;
position.yaw = yaw;
position.pitch = pitch;
position.roll = roll;
}
void initHeadPoseData(){
position.x = 0.0f;
position.y = 0.0f;
position.z = 0.0f;
position.yaw = 0.0f;
position.pitch = 0.0f;
position.roll = 0.0f;
position.frame_number = 0;
}
T6DOF operator-( T6DOF &other ) {
return T6DOF(position.x - other.position.x, position.y - other.position.y, position.z - other.position.z,
position.yaw - other.position.yaw, position.pitch - other.position.pitch, position.roll - other.position.roll);
}
T6DOF operator-=( T6DOF &other ) {
return T6DOF(position.x - other.position.x, position.y - other.position.y, position.z - other.position.z,
position.yaw - other.position.yaw, position.pitch - other.position.pitch, position.roll - other.position.roll);
}
T6DOF operator+( T6DOF &other ) {
return T6DOF(position.x + other.position.x, position.y + other.position.y, position.z + other.position.z,
position.yaw + other.position.yaw, position.pitch + other.position.pitch, position.roll + other.position.roll);
}
T6DOF operator+=( T6DOF &other ) {
return T6DOF(position.x + other.position.x, position.y + other.position.y, position.z + other.position.z,
position.yaw + other.position.yaw, position.pitch + other.position.pitch, position.roll + other.position.roll);
}
THeadPoseData position;
};
#endif // FTNOIR_TRACKER_TYPES_H
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