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#pragma once
#include "persistent_scene.h"
#include "stdbool.h"
#ifndef USE_DOUBLE
#define FLT double
#define USE_DOUBLE
#endif
#include "linmath.h"
#include <survive.h>
typedef struct {
uint32_t tolerance;
// If "lengths[...]" < 0, means not a valid piece of sweep information.
FLT angles[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2]; // 2 Axes (Angles in LH space)
uint32_t timecode[SENSORS_PER_OBJECT][NUM_LIGHTHOUSES][2];
PoserDataIMU lastimu;
} PersistentScene;
typedef void (*PersistentScene_ForEachCorrespondence_fn)(SurviveObject *so, int lh, int sensor_idx, FLT *angles,
void *);
void PersistentScene_ForEachCorrespondence(PersistentScene *self, PersistentScene_ForEachCorrespondence_fn fn,
SurviveObject *so, uint32_t timecode_now, void *user);
void PersistentScene_add(PersistentScene *self, SurviveObject *so, PoserDataLight *lightData);
bool PersistentScene_isStillValid(const PersistentScene *self, uint32_t timecode_now, uint32_t idx, int lh);
void PersistentScene_ctor(PersistentScene *self);
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