/*
 * Copyright (C) 2022 The Android Open Source Project
 *
 * 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.
 */

#include "PoseBias.h"

namespace android {
namespace media {

void PoseBias::setInput(const Pose3f& input) {
    mLastWorldToInput = input;
}

void PoseBias::recenter() {
    mBiasToWorld = mLastWorldToInput.inverse();
}

Pose3f PoseBias::getOutput() const {
    return mBiasToWorld * mLastWorldToInput;
}

}  // namespace media
}  // namespace android