diff options
| author | Justin Berger <j.david.berger@gmail.com> | 2018-03-22 12:06:41 -0600 |
|---|---|---|
| committer | Justin Berger <j.david.berger@gmail.com> | 2018-03-22 12:26:55 -0600 |
| commit | dcf5d7a482e022e762a656253017ebbc721d8a83 (patch) | |
| tree | beb85d67dc1a6d383186f94b674834f2f0667ba9 /include | |
| parent | f60bed509a7e416c155bcd35d5151bca65eaa190 (diff) | |
| download | libsurvive-dcf5d7a482e022e762a656253017ebbc721d8a83.tar.gz libsurvive-dcf5d7a482e022e762a656253017ebbc721d8a83.tar.bz2 | |
Progress on IMU tracking
Diffstat (limited to 'include')
| -rw-r--r-- | include/libsurvive/survive_imu.h | 6 |
1 files changed, 4 insertions, 2 deletions
diff --git a/include/libsurvive/survive_imu.h b/include/libsurvive/survive_imu.h index 323cb6a..a37a4df 100644 --- a/include/libsurvive/survive_imu.h +++ b/include/libsurvive/survive_imu.h @@ -11,13 +11,15 @@ extern "C" { typedef struct { FLT updir[3]; - LinmathVec3d current_velocity; + LinmathVec3d current_velocity; // Velocity in world frame PoserDataIMU last_data; SurvivePose pose; + SurvivePose lastGT; + uint32_t lastGTTime; } SurviveIMUTracker; -void survive_imu_tracker_set_pose(SurviveIMUTracker *tracker, SurvivePose *pose); +void survive_imu_tracker_set_pose(SurviveIMUTracker *tracker, uint32_t timecode, SurvivePose *pose); void survive_imu_tracker_integrate(SurviveObject *so, SurviveIMUTracker *tracker, PoserDataIMU *data); #ifdef __cplusplus |