65 lines
2.0 KiB
C++
65 lines
2.0 KiB
C++
/*
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* Copyright (C) 2021 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 <android-base/stringprintf.h>
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#include "PoseRateLimiter.h"
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namespace android {
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namespace media {
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using android::base::StringAppendF;
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PoseRateLimiter::PoseRateLimiter(const Options& options) : mOptions(options), mLimiting(false) {}
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void PoseRateLimiter::enable() {
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mLimiting = true;
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}
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void PoseRateLimiter::reset(const Pose3f& target) {
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mLimiting = false;
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mTargetPose = target;
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}
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void PoseRateLimiter::setTarget(const Pose3f& target) {
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mTargetPose = target;
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}
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Pose3f PoseRateLimiter::calculatePose(int64_t timestamp) {
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assert(mTargetPose.has_value());
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Pose3f pose;
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if (mLimiting && mOutput.has_value()) {
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std::tie(pose, mLimiting) = moveWithRateLimit(
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mOutput->pose, mTargetPose.value(), timestamp - mOutput->timestamp,
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mOptions.maxTranslationalVelocity, mOptions.maxRotationalVelocity);
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} else {
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pose = mTargetPose.value();
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}
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mOutput = Point{pose, timestamp};
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return pose;
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}
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std::string PoseRateLimiter::toString(unsigned level) const {
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std::string ss(level, ' ');
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if (mLimiting) {
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StringAppendF(&ss, "PoseRateLimiter: enabled with target: %s\n",
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mTargetPose.has_value() ? mTargetPose.value().toString().c_str() : "NULL");
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} else {
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StringAppendF(&ss, "PoseRateLimiter: disabled\n");
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}
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return ss;
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}
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} // namespace media
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} // namespace android
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