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 setInput(const Pose3f & input)22void PoseBias::setInput(const Pose3f& input) { 23 mLastWorldToInput = input; 24 } 25 recenter()26void PoseBias::recenter() { 27 mBiasToWorld = mLastWorldToInput.inverse(); 28 } 29 getOutput() const30Pose3f PoseBias::getOutput() const { 31 return mBiasToWorld * mLastWorldToInput; 32 } 33 34 } // namespace media 35 } // namespace android 36