PoseSampleCollector.impl.hh

 
#include <gmCore/MathConstants.hh>
 
BEGIN_NAMESPACE_GMTRACK;
 
struct PoseSampleCollector::Impl {
 
  typedef gmCore::Updateable::clock clock;
 
  std::vector<Eigen::Vector3f> tracker_positions;
  std::vector<Eigen::Quaternionf> tracker_orientations;
 
  std::vector<Eigen::Vector3f> sample_positions;
  std::vector<Eigen::Quaternionf> sample_orientations;
 
  clock::time_point last_sample_time = clock::time_point::min();
  float samples_per_second = 1;
  float warning_threshold = 0.01f;
  float orientation_warning_threshold = GM_PI_4;
  bool collecting = false;
 
  float inlier_threshold = -1.f;
  float orientation_inlier_threshold = -1.f;
 
  virtual void update(clock::time_point time);
 
  std::shared_ptr<gramods::gmTrack::Controller> controller;
};
 
END_NAMESPACE_GMTRACK;