1 files changed, 85 insertions, 0 deletions
diff --git a/logic/tracker.h b/logic/tracker.h
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+++ b/logic/tracker.h
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+/* 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_; }
+};