orientationTracker.h

#ifndef _ORIENTATION_TRACKER_H_
#define _ORIENTATION_TRACKER_H_
 
#include "tools/OrientationEKF.h"
#include "tools/Quaternion.h"
#include "tools/Matrix4.h"
#include "tools/Vector3d.h"
#include "tools/gyroscopeBiasEstimator.h"
 
enum DeviceOrientation
{
  ROTATION_0 = 0,
  ROTATION_90 = 1,
  ROTATION_180 = 2,
  ROTATION_270 = 3
};
 
class OrientationTracker
{
  public:
    OrientationTracker();
    virtual ~OrientationTracker();
 
    void processGyro(Vector3d gyro, int64_t sensorTimeStamp);
    void processAcceleration(Vector3d acc, int64_t sensorTimeStamp);
    void processMag(Vector3d mag, int64_t sensorTimeStamp);
 
    void startTracking(DeviceOrientation orientation);
    void stopTracking();
    Quaternion lastHeadView(double timeOffsetInSeconds);
    
    void updateDeviceOrientation(DeviceOrientation orientation);
 
    bool neckModelEnabled();
    void setNeckModelEnabled(bool enabled);
    
    bool isReady();
    
  private:
    GyroscopeBiasEstimator mBiasEstimator;
    OrientationEKF mTracker;
    Quaternion mDisplayFromDevice;
    Quaternion mInertialReferenceFrameFromWorld;
    int64_t mLastGyroEventTimestamp;
    bool mNeckModelEnabled;
    Matrix4 mNeckModelTranslation;
    float mOrientationCorrectionAngle;
    Vector3d mGyroBias;
};
 
#endif