t_tracker_psmv_fusion.hpp

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// Copyright 2019, Collabora, Ltd.
// SPDX-License-Identifier: BSL-1.0
/*!
 * @file
 * @brief  PS Move tracker code.
 * @author Pete Black <pblack@collabora.com>
 * @author Jakob Bornecrantz <jakob@collabora.com>
 * @author Ryan Pavlik <ryan.pavlik@collabora.com>
 * @ingroup aux_tracking
 */

#pragma once

#ifndef __cplusplus
#error "This header is C++-only."
#endif

#include "xrt/xrt_defines.h"
#include "xrt/xrt_tracking.h"

#include "util/u_time.h"

#include <memory>


namespace xrt_fusion {
class PSMVFusionInterface
{
public:
        static std::unique_ptr<PSMVFusionInterface>
        create();
        virtual ~PSMVFusionInterface() = default;

        /*!
         * @brief If you've lost sight of the position tracking and won't even
         * enter another function in this class.
         */
        virtual void
        clear_position_tracked_flag() = 0;

        virtual void
        process_imu_data(
            timepoint_ns timestamp_ns,
            const struct xrt_tracking_sample *sample,
            const struct xrt_vec3 *orientation_variance_optional) = 0;
        virtual void
        process_3d_vision_data(timepoint_ns timestamp_ns,
                               const struct xrt_vec3 *position,
                               const struct xrt_vec3 *variance_optional,
                               const struct xrt_vec3 *lever_arm_optional,
                               float residual_limit) = 0;

        virtual void
        get_prediction(timepoint_ns when_ns,
                       struct xrt_space_relation *out_relation) = 0;
};
} // namespace xrt_fusion