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a/math: Add m_relation_history_result return from m_relation_history_get

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Ryan Pavlik 2021-12-02 15:11:11 -06:00 committed by Jakob Bornecrantz
parent 01e3d9871c
commit 217dee2ce3
2 changed files with 43 additions and 12 deletions
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9
src/xrt/auxiliary/math/m_relation_history.cpp
View file

@ -80,11 +80,13 @@ m_relation_history_push(struct m_relation_history *rh, struct xrt_space_relation
os_mutex_unlock(&rh->mutex);
}
void
enum m_relation_history_result
m_relation_history_get(struct m_relation_history *rh, struct xrt_space_relation *out_relation, uint64_t at_timestamp_ns)
{
XRT_TRACE_MARKER();
os_mutex_lock(&rh->mutex);
m_relation_history_result ret = M_RELATION_HISTORY_RESULT_INVALID;
if (rh->has_first_sample == 0) {
// Do nothing. You push nothing to the buffer you get nothing from the buffer.
goto end;
@ -104,6 +106,7 @@ m_relation_history_get(struct m_relation_history *rh, struct xrt_space_relation
U_LOG_T("Extrapolating %f s after the head of the buffer!", delta_s);
m_predict_relation(&rh->impl[0]->relation, delta_s, out_relation);
ret = M_RELATION_HISTORY_RESULT_PREDICTED;
goto end;
} else if (at_timestamp_ns < oldest_in_buffer) {
@ -114,6 +117,8 @@ m_relation_history_get(struct m_relation_history *rh, struct xrt_space_relation
double delta_s = time_ns_to_s(diff_prediction_ns);
U_LOG_T("Extrapolating %f s before the tail of the buffer!", delta_s);
m_predict_relation(&rh->impl[rh->impl.length() - 1]->relation, delta_s, out_relation);
ret = M_RELATION_HISTORY_RESULT_REVERSE_PREDICTED;
goto end;
}
U_LOG_T("Interpolating within buffer!");
@ -196,9 +201,11 @@ m_relation_history_get(struct m_relation_history *rh, struct xrt_space_relation
m_vec3_lerp(before.angular_velocity, after.angular_velocity, amount_to_lerp);
out_relation->linear_velocity =
m_vec3_lerp(before.linear_velocity, after.linear_velocity, amount_to_lerp);
ret = M_RELATION_HISTORY_RESULT_INTERPOLATED;
}
end:
os_mutex_unlock(&rh->mutex);
return ret;
}
void

46
src/xrt/auxiliary/math/m_relation_history.h
View file

@ -7,44 +7,68 @@
* @author Moses Turner <moses@collabora.com>
* @ingroup drv_ht
*/
#pragma once
#include "xrt/xrt_defines.h"
struct m_relation_history;
#ifdef __cplusplus
extern "C" {
#endif
/*!
* Creates an opaque relation_history object.
/**
* @brief Opaque type for storing the history of a space relation in a ring buffer
*
* @ingroup aux_util
*/
struct m_relation_history;
/**
* @brief Describes how the resulting space relation for the desired time stamp was generated.
*
* @relates m_relation_history
*/
enum m_relation_history_result
{
M_RELATION_HISTORY_RESULT_INVALID = 0, //!< The supplied timestamp was invalid (0) or buffer was empty
M_RELATION_HISTORY_RESULT_EXACT, //!< The exact desired timestamp was found
M_RELATION_HISTORY_RESULT_INTERPOLATED, //!< The desired timestamp was between two entries
M_RELATION_HISTORY_RESULT_PREDICTED, //!< The desired timestamp was newer than the most recent entry
M_RELATION_HISTORY_RESULT_REVERSE_PREDICTED, //!< The desired timestamp was older than the oldest entry
};
/*!
* @brief Creates an opaque relation_history object.
*
* @public @memberof m_relation_history
*/
void
m_relation_history_create(struct m_relation_history **rh);
/*!
* Pushes a new pose to the history - if the history is full, it will also pop a pose out of the other side of the
* buffer.
* Pushes a new pose to the history.
*
* @ingroup aux_util
* If the history is full, it will also pop a pose out of the other side of the buffer.
*
* @public @memberof m_relation_history
*/
void
m_relation_history_push(struct m_relation_history *rh, struct xrt_space_relation *in_relation, uint64_t ts);
/*!
* Interpolates or extrapolates to the desired timestamp. Read-only operation - doesn't remove anything from the buffer
* or anything like that - you can call this as often as you want.
* @brief Interpolates or extrapolates to the desired timestamp.
*
* @ingroup aux_util
* Read-only operation - doesn't remove anything from the buffer or anything like that - you can call this as often as
* you want.
*
* @public @memberof m_relation_history
*/
void
enum m_relation_history_result
m_relation_history_get(struct m_relation_history *rh, struct xrt_space_relation *out_relation, uint64_t at_time_ns);
/*!
* Destroys an opaque relation_history object.
*
* @ingroup aux_util
* @public @memberof m_relation_history
*/
void
m_relation_history_destroy(struct m_relation_history **rh);