83 lines
2.2 KiB
C++
83 lines
2.2 KiB
C++
// Copyright 2018 Slightech Co., Ltd. All rights reserved.
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#ifndef MYNTEYE_DEVICE_MOTIONS_H_
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#define MYNTEYE_DEVICE_MOTIONS_H_
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#pragma once
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#include <memory>
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#include <mutex>
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#include <vector>
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#include "mynteye/mynteye.h"
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#include "mynteye/device/callbacks.h"
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#include "mynteye/device/types.h"
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MYNTEYE_BEGIN_NAMESPACE
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class Channels;
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class Motions {
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public:
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using motion_data_t = device::MotionData;
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using motion_datas_t = std::vector<motion_data_t>;
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using motion_callback_t = device::MotionCallback;
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explicit Motions(std::shared_ptr<Channels> channels);
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~Motions();
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void SetMotionCallback(motion_callback_t callback);
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void DoMotionTrack();
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void StartMotionTracking();
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void StopMotionTracking();
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void DisableMotionDatas();
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void EnableMotionDatas(std::size_t max_size);
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motion_datas_t GetMotionDatas();
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void SetMotionIntrinsics(const std::shared_ptr<MotionIntrinsics>& in);
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void EnableProcessMode(const std::int32_t& mode);
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void SetDeviceInfo(const std::shared_ptr<DeviceInfo>& in);
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private:
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void ProcImuAssembly(std::shared_ptr<ImuData> data) const;
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void ProcImuTempDrift(std::shared_ptr<ImuData> data) const;
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bool IsNullAssemblyOrTempDrift() const;
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std::shared_ptr<Channels> channels_;
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motion_callback_t motion_callback_;
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motion_datas_t motion_datas_;
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bool motion_datas_enabled_;
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std::size_t motion_datas_max_size_;
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bool is_imu_tracking;
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std::mutex mtx_datas_;
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int accel_range;
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int gyro_range;
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std::int32_t proc_mode_;
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std::shared_ptr<MotionIntrinsics> motion_intrinsics_;
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std::shared_ptr<DeviceInfo> device_info_;
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};
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MYNTEYE_END_NAMESPACE
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#endif // MYNTEYE_DEVICE_MOTIONS_H_
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