1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
|
/* 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/timer.hpp"
#include "api/plugin-support.hpp"
#include "mappings.hpp"
#include "compat/euler.hpp"
#include "selected-libraries.hpp"
#include "spline/spline.hpp"
#include "main-settings.hpp"
#include "options/options.hpp"
#include "tracklogger.hpp"
#include <QMutex>
#include <QThread>
#include <atomic>
#include <cmath>
#include "export.hpp"
namespace gui_tracker_impl {
using Pose = Mat<double, 6, 1>;
struct bits
{
enum flags : unsigned {
f_center = 1 << 0,
f_enabled_h = 1 << 1,
f_enabled_p = 1 << 2,
f_zero = 1 << 3,
};
std::atomic<unsigned> b;
void set(flags flag_, bool val_);
void negate(flags flag_);
bool get(flags flag);
bits();
};
class OTR_LOGIC_EXPORT Tracker : private QThread, private bits
{
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;
Pose newpose;
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;
struct state
{
rmat rot_center;
rmat rotation;
state() : rot_center(rmat::eye())
{}
};
state real_rotation, scaled_rotation;
euler_t t_center;
time_units::ns backlog_time;
bool tracking_started;
double map(double pos, Map& axis);
void logic();
void t_compensate(const rmat& rmat, const euler_t& ypr, euler_t& output,
bool disable_tx, bool disable_ty, bool disable_tz);
void run() override;
static constexpr double r2d = 180. / M_PI;
static constexpr double d2r = M_PI / 180.;
// note: float exponent base is 2
static constexpr double c_mult = 16;
static constexpr double c_div = 1./c_mult;
public:
Tracker(Mappings& m, SelectedLibraries& libs, TrackLogger& logger);
~Tracker();
void raw_and_mapped_pose(double* mapped, double* raw) const;
void start() { QThread::start(); }
void center();
void set_toggle(bool value);
void set_zero(bool value);
void zero();
void toggle_enabled();
};
} // ns impl
using gui_tracker_impl::Tracker;
|
