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xrt: Add pose sink interface

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Mateo de Mayo 2022-03-03 17:10:15 -03:00 committed by Jakob Bornecrantz
parent 2f31b2e5b0
commit 88bd7a669d
1 changed files with 18 additions and 1 deletions
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19
src/xrt/include/xrt/xrt_tracking.h
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@ -145,7 +145,7 @@ struct xrt_imu_sample
/*!
* @interface xrt_imu_sink
*
* An object that is sent IMU samples.
* An object to send IMU samples to.
*
* Similar to @ref xrt_frame_sink but the interface implementation must manage
* its own resources, not through a context graph.
@ -160,6 +160,16 @@ struct xrt_imu_sink
void (*push_imu)(struct xrt_imu_sink *, struct xrt_imu_sample *sample);
};
/*!
* @interface xrt_pose_sink
*
* An object to send pairs of timestamps and poses to. @see xrt_imu_sink.
*/
struct xrt_pose_sink
{
void (*push_pose)(struct xrt_pose_sink *, timepoint_ns ts, struct xrt_pose *pose);
};
/*!
* Container of pointers to sinks that could be used for a SLAM system. Sinks
* are considered disabled if they are null.
@ -307,6 +317,13 @@ xrt_sink_push_imu(struct xrt_imu_sink *sink, struct xrt_imu_sample *sample)
sink->push_imu(sink, sample);
}
//! @public @memberof xrt_pose_sink
static inline void
xrt_sink_push_pose(struct xrt_pose_sink *sink, timepoint_ns ts, struct xrt_pose *pose)
{
sink->push_pose(sink, ts, pose);
}
//! @public @memberof xrt_tracked_psmv
static inline void
xrt_tracked_psmv_get_tracked_pose(struct xrt_tracked_psmv *psmv,