style.hpp

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#ifndef STYLE_H
#define STYLE_H
 
#include <vector>
#include <unordered_set>
#include <functional>
#include <utility>
#include <memory>
 
#include "common/spatial/attitude-utils.hpp"
#include "common/decimal.hpp"
#include "common/pipeline.hpp"
 
namespace found {
 
typedef __float128 PreciseDecimal;
 
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;
 
typedef Pipeline<std::pair<EulerAngles, EulerAngles>, Quaternion> CalibrationPipeline;
 
typedef Pipeline<Image, PositionVector> DistancePipeline;
 
typedef Pipeline<LocationRecords, LocationRecords> OrbitPipeline;
 
}  // namespace found
 
#endif  // STYLE_H