d:/PlatformIO/RoboidControl/TrackedObject.h

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#pragma once
 
#include "LinearAlgebra/Polar.h"
#include "LinearAlgebra/Quaternion.h"
#include "LinearAlgebra/Spherical.h"
#include "Sensor.h"
 
namespace Passer {
namespace RoboidControl {
 
class InterestingThing {
public:
  InterestingThing(Sensor *sensor, Polar position);
  InterestingThing(Sensor *sensor, Spherical position,
                   Quaternion orientation = Quaternion::identity);
 
  void Refresh(Polar position);
  void Refresh(Spherical position,
               Quaternion orientation = Quaternion::identity);
 
  bool DegradeConfidence(float deltaTime);
 
  bool IsTheSameAs(InterestingThing *otherObj);
  static constexpr float equalityDistance = 0.3F;
  static constexpr float equalityAngle = 5.0F;
 
  unsigned char networkId;
  unsigned char id;
 
  char parentId = 0;
  Spherical position = Spherical::zero;
  Quaternion orientation = Quaternion::identity;
  Sensor *sensor = nullptr;
 
  unsigned char type = 0x00;
  unsigned char confidence;
  bool updated = false;
 
protected:
  static constexpr unsigned char maxConfidence = 255;
  static constexpr unsigned char confidenceDropSpeed = 10; // 150; // 2;
};
 
} // namespace RoboidControl
} // namespace Passer