Merge branch 'master' into simple_api

1 files changed, 29 insertions, 0 deletions

diff --git a/src/poser_general_optimizer.h b/src/poser_general_optimizer.h
new file mode 100644
index 0000000..6d4d906
--- /dev/null
+++ b/src/poser_general_optimizer.h
@@ -0,0 +1,29 @@
+#include <stdlib.h>
+#include <survive.h>
+
+typedef struct GeneralOptimizerData {
+	int failures_to_reset;
+	int failures_to_reset_cntr;
+	int successes_to_reset;
+	int successes_to_reset_cntr;
+
+	FLT max_error;
+
+	struct {
+		int runs;
+		int poser_seed_runs;
+		int error_failures;
+	} stats;
+
+	PoserCB seed_poser;
+	SurviveObject *so;
+} GeneralOptimizerData;
+
+void general_optimizer_data_init(GeneralOptimizerData *d, SurviveObject *so);
+void general_optimizer_data_dtor(GeneralOptimizerData *d);
+
+void general_optimizer_data_record_failure(GeneralOptimizerData *d);
+bool general_optimizer_data_record_success(GeneralOptimizerData *d, FLT error);
+void general_optimizer_data_record_imu(GeneralOptimizerData *d, PoserDataIMU *imu);
+bool general_optimizer_data_record_current_pose(GeneralOptimizerData *d, PoserData *hdr, size_t len_hdr,
+												SurvivePose *p);