OffsetSinglePoseTracker.hh

 
#ifndef GRAMODS_TRACK_OFFSETSINGLEPOSETRACKER
#define GRAMODS_TRACK_OFFSETSINGLEPOSETRACKER
 
// Required before gmCore/OFactory.hh for some compilers
#include <gmCore/io_eigen.hh>
 
#include <gmTrack/SinglePoseTracker.hh>
 
#include <gmCore/OFactory.hh>
 
BEGIN_NAMESPACE_GMTRACK;
 
class OffsetSinglePoseTracker
  : public SinglePoseTracker {
 
public:
 
  void setSinglePoseTracker(std::shared_ptr<SinglePoseTracker> tracker) {
    this->tracker = tracker;
  }
 
  void setPositionOffset(Eigen::Vector3f p) {
    position_offset = p;
  }
 
  void setOrientationOffset(Eigen::Quaternionf q) {
    orientation_offset = q;
  }
 
  void setOffsetMatrix(Eigen::Matrix4f m);
 
  bool getPose(PoseSample &p) override;
 
  void traverse(Visitor *visitor) override;
 
  GM_OFI_DECLARE;
 
private:
 
  std::shared_ptr<SinglePoseTracker> tracker;
 
  Eigen::Vector3f position_offset = Eigen::Vector3f::Zero();
  Eigen::Quaternionf orientation_offset = Eigen::Quaternionf::Identity();
 
};
 
END_NAMESPACE_GMTRACK;
 
#endif