From dcf5d7a482e022e762a656253017ebbc721d8a83 Mon Sep 17 00:00:00 2001
From: Justin Berger <j.david.berger@gmail.com>
Date: Thu, 22 Mar 2018 12:06:41 -0600
Subject: Progress on IMU tracking

---
 include/libsurvive/survive_imu.h | 6 ++++--
 1 file changed, 4 insertions(+), 2 deletions(-)

(limited to 'include')

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
-- 
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