96 lines
3.0 KiB
C++
96 lines
3.0 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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#pragma once
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#include <optional>
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#include "media/Pose.h"
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namespace android {
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namespace media {
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/**
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* Limits a stream of poses to a given maximum translational and rotational velocities.
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*
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* Normal operation:
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*
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* Pose3f output;
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* PoseRateLimiter limiter(...);
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*
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* // Limiting is disabled. Output will be the same as last input.
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* limiter.setTarget(...);
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* output = limiter.calculatePose(...);
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* limiter.setTarget(...);
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* output = limiter.calculatePose(...);
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*
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* // Enable limiting. Output will no longer be necessarily the same as last input.
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* limiter.enable();
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* limiter.setTarget(...);
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* output = limiter.calculatePose(...);
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* limiter.setTarget(...);
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* output = limiter.calculatePose(...);
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*
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* // When eventually the output has been able to catch up with the last input, the limited will be
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* // automatically disabled again and the output will match the input again.
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* limiter.setTarget(...);
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* output = limiter.calculatePose(...);
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*
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* As shown above, the limiter is turned on manually via enable(), but turns off automatically as
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* soon as the output is able to catch up to the input. The intention is that rate limiting will be
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* turned on at specific times to smooth out any artificial discontinuities introduced to the pose
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* stream, but the rest of the time will be a simple passthrough.
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* setTarget(...) and calculatePose(...) don't have to be ordered in any particular way. However,
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* setTarget or reset() must be called at least once prior to the first calculatePose().
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*
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* Calling reset() instead of setTarget() forces the output to the given pose and disables rate
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* limiting.
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*
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* This implementation is thread-compatible, but not thread-safe.
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*/
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class PoseRateLimiter {
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public:
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struct Options {
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float maxTranslationalVelocity = std::numeric_limits<float>::infinity();
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float maxRotationalVelocity = std::numeric_limits<float>::infinity();
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};
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explicit PoseRateLimiter(const Options& options);
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void enable();
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void reset(const Pose3f& target);
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void setTarget(const Pose3f& target);
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Pose3f calculatePose(int64_t timestamp);
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std::string toString(unsigned level) const;
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private:
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struct Point {
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Pose3f pose;
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int64_t timestamp;
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};
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const Options mOptions;
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bool mLimiting;
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std::optional<Pose3f> mTargetPose;
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std::optional<Point> mOutput;
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};
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} // namespace media
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} // namespace android
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