1 files changed, 63 insertions, 0 deletions
diff --git a/SixenseSDK/include/sixense_utils/derivatives.hpp b/SixenseSDK/include/sixense_utils/derivatives.hpp
new file mode 100755
index 0000000..cd3c31f
--- /dev/null
+++ b/SixenseSDK/include/sixense_utils/derivatives.hpp
@@ -0,0 +1,63 @@
+/*
+ *
+ * SIXENSE CONFIDENTIAL
+ *
+ * Copyright (C) 2011 Sixense Entertainment Inc.
+ * All Rights Reserved
+ *
+ */
+
+#ifndef SIXENSE_UTILS_DERIVATIVES_HPP
+#define SIXENSE_UTILS_DERIVATIVES_HPP
+
+#pragma warning(push)
+#pragma warning( disable:4251 )
+
+#include "sixense.h"
+#include "sixense_math.hpp"
+
+#include <deque>
+
+#include "sixense_utils/export.hpp"
+#include "sixense_utils/interfaces.hpp"
+
+namespace sixenseUtils {
+
+	class SIXENSE_UTILS_EXPORT Derivatives : public IDerivatives {
+
+	public:
+		Derivatives( sixenseMath::Vector3 offset_vec = sixenseMath::Vector3() );
+
+		void update( sixenseControllerData *cd );
+
+		sixenseMath::Vector3 getPosition();
+		sixenseMath::Vector3 getVelocity();
+		sixenseMath::Vector3 getAcceleration();
+
+		sixenseMath::Vector3 getRSquared();
+
+		void setOffset( sixenseMath::Vector3 offset );
+		sixenseMath::Vector3 getOffset();
+
+	protected:
+		std::deque<unsigned char> _last_n_sequence;
+
+		std::deque<float> _last_n_times;
+
+		std::deque<sixenseMath::Vector3> _last_n_pos;
+
+		sixenseMath::Vector3 _pos;
+		sixenseMath::Vector3 _vel;
+		sixenseMath::Vector3 _accel;
+
+		sixenseMath::Vector3 _r_squared;
+
+		sixenseMath::Vector3 _offset_vec;
+
+	};
+
+}
+
+#pragma warning(pop)
+
+#endif