PoseTracker.hh

 
#ifndef GRAMODS_TRACK_POSETRACKER
#define GRAMODS_TRACK_POSETRACKER
 
#include <gmTrack/config.hh>
 
#include <gmCore/Object.hh>
#include <Eigen/Eigen>
#include <chrono>
 
BEGIN_NAMESPACE_GMTRACK;
 
class PoseTracker
  : public gmCore::Object {
 
public:
 
  typedef std::chrono::steady_clock clock;
 
  struct PoseSample {
    Eigen::Vector3f position;
    Eigen::Quaternionf orientation;
    clock::time_point time;
 
    Eigen::Affine3f asMatrix() const {
      return Eigen::Translation3f(position) * orientation;
    }
  };
};
 
END_NAMESPACE_GMTRACK;
 
#endif