| Ytai Ben-Tsvi | 09ad8c9 | 2022-01-28 14:19:08 -0800 | [diff] [blame] | 1 | /* |
| 2 | * Copyright (C) 2022 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 "PoseBias.h" |
| 18 | |
| 19 | namespace android { |
| 20 | namespace media { |
| 21 | |
| 22 | void PoseBias::setInput(const Pose3f& input) { |
| 23 | mLastWorldToInput = input; |
| 24 | } |
| 25 | |
| 26 | void PoseBias::recenter() { |
| 27 | mBiasToWorld = mLastWorldToInput.inverse(); |
| 28 | } |
| 29 | |
| 30 | Pose3f PoseBias::getOutput() const { |
| 31 | return mBiasToWorld * mLastWorldToInput; |
| 32 | } |
| 33 | |
| 34 | } // namespace media |
| 35 | } // namespace android |