Multilateration.hh

 
#ifndef GRAMODS_SOUND_MULTILATERATION
#define GRAMODS_SOUND_MULTILATERATION
 
// Required before gmCore/OFactory.hh for some compilers
#include <gmCore/io_eigen.hh>
 
#include <gmSound/SoundDetector.hh>
 
#include <gmCore/Updateable.hh>
#include <gmTrack/SinglePoseTracker.hh>
 
namespace gramods {
namespace gmSound {
 
class Multilateration : public gmTrack::SinglePoseTracker,
                        public gmCore::Updateable {
 
public:
  typedef gmCore::Updateable::clock clock;
 
  Multilateration();
  virtual ~Multilateration();
 
  void addPoint(Eigen::Vector3f pt);
 
  void setSpeedOfSound(float v);
 
  void setSoundDetector(std::shared_ptr<SoundDetector>);
 
  bool getPose(PoseSample &p) override;
 
  void update(clock::time_point t, size_t frame) override;
 
  void initialize() override;
 
  void traverse(Visitor *visitor) override;
 
  GM_OFI_DECLARE;
 
private:
  struct Impl;
  std::unique_ptr<Impl> _impl;
};
}
}
 
#endif