opentrack/tracker.h


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#pragma once

#include <vector>

#include "timer.hpp"
#include "plugin-support.h"
#include "mappings.hpp"
#include "pose.hpp"
#include "simple-mat.hpp"

#include "../qfunctionconfigurator/functionconfig.h"
#include "main-settings.hpp"
#include "options.hpp"

#include <QMutex>
#include <QThread>

class Tracker : private QThread {
    Q_OBJECT
private:
    QMutex mtx;
    main_settings& s;
    Mappings& m;

    Timer t;
    Pose output_pose, raw_6dof;

    double newpose[6];
    volatile bool centerp;
    volatile bool enabledp;
    volatile bool zero_;
    volatile bool should_quit;
    SelectedLibraries const& libs;

    using rmat = dmat<3, 3>;
    
    dmat<3, 3> r_b;
    double t_b[3];

    double map(double pos, bool invertp, Mapping& axis);
    void logic();

    void t_compensate(const dmat<3, 3>& rmat, const double* ypr, double* output, bool rz);
    void run() override;
    
public:
    Tracker(main_settings& s, Mappings& m, SelectedLibraries& libs);
    ~Tracker();

    void get_raw_and_mapped_poses(double* mapped, double* raw) const;
    void start() { QThread::start(); }
    void toggle_enabled() { enabledp = !enabledp; }
    void center() { centerp = !centerp; }
    void zero() { zero_ = !zero_; }
};