summaryrefslogtreecommitdiffhomepage
path: root/logic/tracker.h
diff options
context:
space:
mode:
authorStanislaw Halik <sthalik@misaki.pl>2016-08-12 18:00:49 +0200
committerStanislaw Halik <sthalik@misaki.pl>2016-08-12 18:00:49 +0200
commit9040b187a1c4fa380f8a12207b9dd6d04b3a10ac (patch)
tree115e1351571d690c1261a9d512e6d44e717f3051 /logic/tracker.h
parent13a18b149764509a3f460be86590250cdcf690fb (diff)
all: rename modules s#^opentrack-##. and opentrack -> api
Adjust usages.
Diffstat (limited to 'logic/tracker.h')
-rw-r--r--logic/tracker.h85
1 files changed, 85 insertions, 0 deletions
diff --git a/logic/tracker.h b/logic/tracker.h
new file mode 100644
index 00000000..15fb9701
--- /dev/null
+++ b/logic/tracker.h
@@ -0,0 +1,85 @@
+/* Copyright (c) 2014-2015, Stanislaw Halik <sthalik@misaki.pl>
+
+ * Permission to use, copy, modify, and/or distribute this
+ * software for any purpose with or without fee is hereby granted,
+ * provided that the above copyright notice and this permission
+ * notice appear in all copies.
+ */
+
+#pragma once
+
+#include <vector>
+
+#include "compat/pi-constant.hpp"
+#include "compat/timer.hpp"
+#include "api/plugin-support.hpp"
+#include "mappings.hpp"
+#include "simple-mat.hpp"
+#include "selected-libraries.hpp"
+
+#include "spline-widget/spline.hpp"
+#include "main-settings.hpp"
+#include "compat/options.hpp"
+#include "tracklogger.hpp"
+
+#include <QMutex>
+#include <QThread>
+
+#include "export.hpp"
+
+using Pose = Mat<double, 6, 1>;
+
+class OPENTRACK_LOGIC_EXPORT Tracker : private QThread
+{
+ Q_OBJECT
+private:
+ using rmat = euler::rmat;
+ using euler_t = euler::euler_t;
+
+ QMutex mtx;
+ main_settings s;
+ Mappings& m;
+
+ Timer t;
+ Pose output_pose, raw_6dof, last_mapped, last_raw;
+
+ double newpose[6];
+ SelectedLibraries const& libs;
+ // The owner of the reference is the main window.
+ // This design might be usefull if we decide later on to swap out
+ // the logger while the tracker is running.
+ TrackLogger &logger;
+
+ rmat r_b, r_b_real;
+ double t_b[3];
+
+ volatile bool centerp;
+ volatile bool enabledp;
+ volatile bool zero_;
+ volatile bool should_quit;
+
+ double map(double pos, Map& axis);
+ void logic();
+ void t_compensate(const rmat& rmat, const euler_t& ypr, euler_t& output, bool rz);
+ void run() override;
+
+ static constexpr double pi = OPENTRACK_PI;
+ static constexpr double r2d = 180. / OPENTRACK_PI;
+ static constexpr double d2r = OPENTRACK_PI / 180.;
+
+ // note: float exponent base is 2
+ static constexpr double c_mult = 4;
+ static constexpr double c_div = 1./c_mult;
+public:
+ Tracker(Mappings& m, SelectedLibraries& libs, TrackLogger &logger);
+ ~Tracker();
+
+ rmat get_camera_offset_matrix(double c);
+ void get_raw_and_mapped_poses(double* mapped, double* raw) const;
+ void start() { QThread::start(); }
+ void toggle_enabled() { enabledp = !enabledp; }
+ void set_toggle(bool value) { enabledp = value; }
+ void set_zero(bool value) { zero_ = value; }
+ void center() { centerp = !centerp; }
+ void zero() { zero_ = !zero_; }
+};