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Passing angular velocity from OSVR into SteamVR #103
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612ff9c
Added angular velocty to pose passed to SteamVR
mdigkin 11b26da
Added angular velocty to pose passed to SteamVR
mdigkin ed78795
Clang formatting as per project guideline
mdigkin 893247a
Check if angular velocity is valid in VelocityState
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,62 @@ | ||
| /** @file | ||
| @brief Header | ||
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| @date 2016 | ||
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| @author | ||
| Sensics, Inc. | ||
| <http://sensics.com/osvr> | ||
| */ | ||
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| // Copyright 2016 Sensics, Inc. | ||
| // | ||
| // Licensed under the Apache License, Version 2.0 (the "License"); | ||
| // you may not use this file except in compliance with the License. | ||
| // You may obtain a copy of the License at | ||
| // | ||
| // http://www.apache.org/licenses/LICENSE-2.0 | ||
| // | ||
| // Unless required by applicable law or agreed to in writing, software | ||
| // distributed under the License is distributed on an "AS IS" BASIS, | ||
| // WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. | ||
| // See the License for the specific language governing permissions and | ||
| // limitations under the License. | ||
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| #ifndef INCLUDED_AngVelTools_h_GUID_628878EF_DAFC_4486_36BC_6C47BD452AB0 | ||
| #define INCLUDED_AngVelTools_h_GUID_628878EF_DAFC_4486_36BC_6C47BD452AB0 | ||
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| // Internal Includes | ||
| // - none | ||
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| // Library/third-party includes | ||
| #include <osvr/Util/EigenCoreGeometry.h> | ||
| #include <osvr/Util/EigenQuatExponentialMap.h> | ||
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| // Standard includes | ||
| #include <cmath> | ||
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| namespace osvr { | ||
| namespace vbtracker { | ||
| /// use only for derivatives - has factor of 2/0.5 in it! | ||
| // inline Eigen::Quaterniond | ||
| // angVelVecToIncRot(Eigen::Vector3d const &angVelVec, double dt) { | ||
| // return util::ei_quat_exp_map::quat_exp(angVelVec * dt * 0.5).normalized(); | ||
| // } | ||
| // | ||
| /// use only for derivatives - has factor of 2/0.5 in it! | ||
| inline Eigen::Vector3d incRotToAngVelVec(Eigen::Quaterniond const &incRot, | ||
| double dt) { | ||
| #if 0 | ||
| if (incRot.w() >= 1. || incRot.vec().isZero(1e-10)) { | ||
| return Eigen::Vector3d::Zero(); | ||
| } | ||
| auto angle = std::acos(incRot.w()); | ||
| return incRot.vec().normalized() * angle * 2. / dt; | ||
| #else | ||
| return util::ei_quat_exp_map::quat_ln(incRot) * 2. / dt; | ||
| #endif | ||
| } | ||
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| } // namespace vbtracker | ||
| } // namespace osvr | ||
| #endif // INCLUDED_AngVelTools_h_GUID_628878EF_DAFC_4486_36BC_6C47BD452AB0 |
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What is the intention behind this line? Wouldn't the
poserotation.inverse()pre-rotation be eliminated by theposerotationpost-rotation?There was a problem hiding this comment.
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OSVR gives you the angular velocity in the same reference frame than the HMD's orientation. @mdigkin claims, and I'm willing to believe him, that SteamVR wants the angular velocity using the HMD as the reference frame. The intention here is to have the angular velocity in the reference frame SteamVR expects it to be.
They do not cancel each other because rotation composition is not commutative.
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I realize that, but it's just strange to see that line without explanation of the intention.