From b31eb7671818638d1d3d2bae2ad207cd61bd8ccd Mon Sep 17 00:00:00 2001
From: Moses Turner <moses@collabora.com>
Date: Sun, 18 Sep 2022 08:07:32 -0500
Subject: [PATCH] u/json: Add u_json_get_pose

---
 src/xrt/auxiliary/util/u_json.c | 17 +++++++++++++++++
 src/xrt/auxiliary/util/u_json.h |  9 +++++++++
 2 files changed, 26 insertions(+)

diff --git a/src/xrt/auxiliary/util/u_json.c b/src/xrt/auxiliary/util/u_json.c
index e1efa7a6a..98cc1e4b6 100644
--- a/src/xrt/auxiliary/util/u_json.c
+++ b/src/xrt/auxiliary/util/u_json.c
@@ -262,6 +262,23 @@ u_json_get_quat(const cJSON *json, struct xrt_quat *out_quat)
 	return true;
 }
 
+// note: you should be using "position" and "orientation" and lower-case xyz(w)
+bool
+u_json_get_pose(const cJSON *json, struct xrt_pose *out_pose)
+{
+	struct xrt_pose tmp;
+
+	bool good = true;
+	good = good && u_json_get_vec3(u_json_get(json, "position"), &tmp.position);
+	good = good && u_json_get_quat(u_json_get(json, "orientation"), &tmp.orientation);
+
+	if (good) {
+		*out_pose = tmp;
+	}
+	return good;
+}
+
+
 size_t
 u_json_get_float_array(const cJSON *json_array, float *out_array, size_t max_size)
 {
diff --git a/src/xrt/auxiliary/util/u_json.h b/src/xrt/auxiliary/util/u_json.h
index bac339854..a2d51e1db 100644
--- a/src/xrt/auxiliary/util/u_json.h
+++ b/src/xrt/auxiliary/util/u_json.h
@@ -101,6 +101,15 @@ u_json_get_vec3_f64_array(const cJSON *json, struct xrt_vec3_f64 *out_vec3);
 bool
 u_json_get_quat(const cJSON *json, struct xrt_quat *out_quat);
 
+/*!
+ * @brief Parse a pose from a JSON object, composed of a vec3 named "position" and a quat named "orientation".
+ *
+ * @return true if successful, false if not.
+ */
+bool
+u_json_get_pose(const cJSON *json, struct xrt_pose *out_pose);
+
+
 /*!
  * @brief Parse up to max_size floats from a JSON array.
  *