File palm_pose.hpp

File List > data_format > poses > palm_pose.hpp

Go to the documentation of this file

#pragma once
#ifdef USING_OPENXR
#    include "illixr/data_format/poses/pose_base.hpp"
#    include "illixr/switchboard.hpp"

#    include 

namespace ILLIXR::data_format::pose {

struct palm_pose : xrt_space_relation {
    [[nodiscard]] bool is_valid() const {
        return relation_flags > 0;
    }
#    ifndef ENABLE_MONADO
    void update(XrSpaceLocation& location, XrSpaceVelocity& velocity) {
        pose             = location.pose;
        linear_velocity  = velocity.linearVelocity;
        angular_velocity = velocity.angularVelocity;
        set_flags(location.locationFlags, velocity.velocityFlags);
    }
#    endif
};

struct palm_poses_pair : public switchboard::event {
    std::map<side, palm_pose> hands;       
    time_point                sensor_time; 

    palm_poses_pair()
        : hands{{LEFT, palm_pose{}}, {RIGHT, palm_pose{}}}
        , sensor_time{time_point{}} { }

    palm_poses_pair(std::map<side, palm_pose> hands_, time_point sensor_time_)
        : hands{std::move(hands_)}
        , sensor_time{sensor_time_} { }

    [[nodiscard]] bool is_valid() const {
        return hands.at(LEFT).relation_flags != XRT_SPACE_RELATION_BITMASK_NONE ||
            hands.at(RIGHT).relation_flags != XRT_SPACE_RELATION_BITMASK_NONE;
    }

    palm_pose& operator[](side h) {
        return hands[h];
    }
};

} // namespace ILLIXR::data_format::pose
#endif