CustomTransformation.h

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/*================================================================================
 *  Header file for CustomTransformation Node.
 *  Based on code from the DynamicTransformation Node written by Gerhard Reitmayr
 *
 * @author Simon DiMaio
 *
 * $Id:
 * @file
/*================================================================================*/

#ifndef _CUSTOMTRANSFORMATION_H
#define _CUSTOMTRANSFORMATION_H

#include <OpenTracker/OpenTracker.h>
#include <OpenTracker/common/StaticTransformation.h>
#include <OpenTracker/dllinclude.h>
#include "math.h"
#include <OpenTracker/core/MathUtils.h>

namespace ot {

    class OPENTRACKER_API CustomTransformation : public StaticTransformation
    {
    protected:

        Event store1;
        Event store2;
        int baseEvent;

        void ncross(float *v1, float *v2, float *result);
        void QuaternionToHeading(float *qin, float *result);
        void FrameToQuaternion(float *Vx, float *Vy, float *Vz, std::vector<float>&);
        void Compute_6DOF(Event &sensor1, Event &sensor2, Event &newevent);

    public:

        /* constructor method. It sets default values on the
         * underlying StaticTransformation. */
        CustomTransformation( int baseEvent_ = 1, bool usePos_ = true, bool useOrient_ = true);

        /*
         * this method is called by the EventGenerator to update it's observers.
         * This class computes a transformed event, stores it in its local variable
         * and notifies its observers in turn, propagating the change.
         */
        virtual void onEventGenerated( Event& event, Node& generator);

        friend class CommonNodeFactory;

    };

} // namespace ot

#endif

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