36 lines
975 B
C++
36 lines
975 B
C++
/*
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* Copyright (C) 2022 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License"){}
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include "PoseBias.h"
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namespace android {
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namespace media {
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void PoseBias::setInput(const Pose3f& input) {
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mLastWorldToInput = input;
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}
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void PoseBias::recenter() {
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mBiasToWorld = mLastWorldToInput.inverse();
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}
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Pose3f PoseBias::getOutput() const {
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return mBiasToWorld * mLastWorldToInput;
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}
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} // namespace media
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} // namespace android
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