1 /*
2 * Copyright (C) 2021 The Android Open Source Project
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License"){}
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16
17 #include "PoseRateLimiter.h"
18
19 namespace android {
20 namespace media {
21
PoseRateLimiter(const Options & options)22 PoseRateLimiter::PoseRateLimiter(const Options& options) : mOptions(options), mLimiting(false) {}
23
enable()24 void PoseRateLimiter::enable() {
25 mLimiting = true;
26 }
27
reset(const Pose3f & target)28 void PoseRateLimiter::reset(const Pose3f& target) {
29 mLimiting = false;
30 mTargetPose = target;
31 }
32
setTarget(const Pose3f & target)33 void PoseRateLimiter::setTarget(const Pose3f& target) {
34 mTargetPose = target;
35 }
36
calculatePose(int64_t timestamp)37 Pose3f PoseRateLimiter::calculatePose(int64_t timestamp) {
38 assert(mTargetPose.has_value());
39 Pose3f pose;
40 if (mLimiting && mOutput.has_value()) {
41 std::tie(pose, mLimiting) = moveWithRateLimit(
42 mOutput->pose, mTargetPose.value(), timestamp - mOutput->timestamp,
43 mOptions.maxTranslationalVelocity, mOptions.maxRotationalVelocity);
44 } else {
45 pose = mTargetPose.value();
46 }
47 mOutput = Point{pose, timestamp};
48 return pose;
49 }
50
51 } // namespace media
52 } // namespace android
53