style.hpp

#ifndef SRC_COMMON_STYLE_HPP_
#define SRC_COMMON_STYLE_HPP_
 
#include <vector>
#include <unordered_set>
#include <functional>
#include <utility>
#include <memory>
 
#include "common/spatial/attitude-utils.hpp"
#include "common/decimal.hpp"
#include "common/pipeline/pipelines.hpp"
 
namespace found {
 
typedef std::vector<Vec2> Points;
 
typedef Vec3 PositionVector;
 
struct Image {
    int width;
    int height;
    int channels;
    unsigned char *image;
};
 
struct Edge {
    Points points;
    Vec2 upperLeft;
    Vec2 lowerRight;
};
 
typedef std::vector<Edge> Edges;
 
struct Component {
    std::unordered_set<uint64_t> points;
    Vec2 upperLeft;
    Vec2 lowerRight;
};
 
typedef std::vector<Component> Components;
 
struct LocationRecord {
    uint64_t timestamp;
 
    Vec3 position;
};
 
// so that we don't have to copy the data.
typedef std::vector<LocationRecord> LocationRecords;
 
struct OrbitParams {
    Vec3 initialCondition;
 
    Vec3 (* position)(int theta);
 
    Vec3 (* majorAxis)(int theta);
 
    Vec3 (* minorAxis)(int theta);
 
    decimal (* inPlaneRotation)(int theta);
 
    decimal (* outPlaneRotation)(int theta);
};
 
typedef struct OrbitParams OrbitParams;
 
typedef std::pair<std::function<Vec3(int)>,std::function<Vec3(int)>> KinematicPrediction;
 
constexpr size_t calibration_size = 1;
constexpr size_t distance_size = 3;
constexpr size_t orbit_size = 2;
 
typedef SequentialPipeline<std::pair<EulerAngles, EulerAngles>, Quaternion, calibration_size> CalibrationPipeline;
 
typedef SequentialPipeline<Image, PositionVector, distance_size> DistancePipeline;
 
typedef SequentialPipeline<LocationRecords, LocationRecords, orbit_size> OrbitPipeline;
 
}  // namespace found
 
#endif  // SRC_COMMON_STYLE_HPP_