data_model.h

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/*
 * Copyright (c) 2011 University of Bonn, Computer Science Institute,
 * Kathrin Gräve
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
 * 1. Redistributions of source code must retain the above copyright notice,
 *    this list of conditions and the following disclaimer.
 * 2. Redistributions in binary form must reproduce the above copyright
 *    notice, this list of conditions and the following disclaimer in the
 *    documentation and/or other materials provided with the distribution.
 * 3. Neither the name of the copyright holder nor the names of its
 *    contributors may be used to endorse or promote products derived from
 *    this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE
 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
 * POSSIBILITY OF SUCH DAMAGE.
 */
#ifndef __MOCAP_OPTITRACK_DATA_MODEL_H__
#define __MOCAP_OPTITRACK_DATA_MODEL_H__

#include <string>
#include <vector>

#include <mocap_optitrack/version.h>

namespace mocap_optitrack
{


struct Marker
{
  float x;
  float y;
  float z;
};

struct __attribute__((__packed__)) Pose
{
  struct __attribute__((__packed__))
  {
    float x;
    float y;
    float z;
  } position;
  struct __attribute__((__packed__))
  {
    float x;
    float y;
    float z;
    float w;
  } orientation;
};

struct RigidBody
{
  RigidBody();
  int bodyId;
  Pose pose;
  float meanMarkerError;
  bool isTrackingValid;

  bool hasValidData() const;
};

struct ModelDescription
{
  ModelDescription();
  void clear();

  std::string name;
  std::vector<std::string> markerNames;
};

struct MarkerSet
{
  void clear();

  char name[256];
  std::vector<Marker> markers;
};

struct ModelFrame
{
  ModelFrame();
  void clear();

  std::vector<MarkerSet> markerSets;
  std::vector<Marker> otherMarkers;
  std::vector<RigidBody> rigidBodies;

  float latency;
};

struct ServerInfo
{
  ServerInfo();
  Version natNetVersion;
  Version serverVersion;
};

class DataModel
{
public:
  DataModel();

  int frameNumber;
  ModelFrame dataFrame;

  void clear();

  void setVersions(int* nver, int* sver);
  Version const& getNatNetVersion() const;
  Version const& getServerVersion() const;
  bool hasServerInfo() const
  {
    return hasValidServerInfo;
  };

private:
  ServerInfo serverInfo;
  bool hasValidServerInfo;
};

}

#endif