35         std::unique_ptr<HeadTrackingProcessor> processor =  in TEST()  local
37         processor->calculate(0);  in TEST()
38         EXPECT_EQ(processor->getActualMode(), HeadTrackingMode::STATIC);  in TEST()
39         EXPECT_EQ(processor->getHeadToStagePose(), Pose3f());  in TEST()
49     std::unique_ptr<HeadTrackingProcessor> processor =  in TEST()  local
53     processor->setWorldToHeadPose(0, Pose3f(), Twist3f());  in TEST()
54     processor->setWorldToScreenPose(0, Pose3f());  in TEST()
56     processor->setDisplayOrientation(physicalToLogical);  in TEST()
57     processor->setWorldToHeadPose(0, worldToHead, Twist3f());  in TEST()
58     processor->setWorldToScreenPose(0, worldToScreen);  in TEST()
59     processor->setScreenToStagePose(screenToStage);  in TEST()
60     processor->calculate(0);  in TEST()
61     ASSERT_EQ(processor->getActualMode(), HeadTrackingMode::SCREEN_RELATIVE);  in TEST()
62     EXPECT_EQ(processor->getHeadToStagePose(), worldToHead.inverse() * worldToScreen *  in TEST()
66     processor->setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);  in TEST()
67     processor->calculate(0);  in TEST()
68     ASSERT_EQ(processor->getActualMode(), HeadTrackingMode::WORLD_RELATIVE);  in TEST()
69     EXPECT_EQ(processor->getHeadToStagePose(), worldToHead.inverse() * screenToStage);  in TEST()
71     processor->setDesiredMode(HeadTrackingMode::STATIC);  in TEST()
72     processor->calculate(0);  in TEST()
73     ASSERT_EQ(processor->getActualMode(), HeadTrackingMode::STATIC);  in TEST()
74     EXPECT_EQ(processor->getHeadToStagePose(), screenToStage);  in TEST()
82     std::unique_ptr<HeadTrackingProcessor> processor = createHeadTrackingProcessor(  in TEST()  local
85     processor->setPosePredictorType(PosePredictorType::TWIST);  in TEST()
88     processor->setWorldToHeadPose(0, Pose3f(), Twist3f());  in TEST()
89     processor->setWorldToScreenPose(0, Pose3f());  in TEST()
91     processor->setWorldToHeadPose(0, worldToHead, headTwist);  in TEST()
92     processor->setWorldToScreenPose(0, worldToScreen);  in TEST()
93     processor->calculate(0);  in TEST()
94     ASSERT_EQ(processor->getActualMode(), HeadTrackingMode::WORLD_RELATIVE);  in TEST()
95     EXPECT_EQ(processor->getHeadToStagePose(), (worldToHead * integrate(headTwist, 2.f)).inverse());  in TEST()
97     processor->setDesiredMode(HeadTrackingMode::SCREEN_RELATIVE);  in TEST()
98     processor->calculate(0);  in TEST()
99     ASSERT_EQ(processor->getActualMode(), HeadTrackingMode::SCREEN_RELATIVE);  in TEST()
100     EXPECT_EQ(processor->getHeadToStagePose(),  in TEST()
103     processor->setDesiredMode(HeadTrackingMode::STATIC);  in TEST()
104     processor->calculate(0);  in TEST()
105     ASSERT_EQ(processor->getActualMode(), HeadTrackingMode::STATIC);  in TEST()
106     EXPECT_EQ(processor->getHeadToStagePose(), Pose3f());  in TEST()
112     std::unique_ptr<HeadTrackingProcessor> processor = createHeadTrackingProcessor(  in TEST()  local
116     processor->setWorldToHeadPose(0, Pose3f(), Twist3f());  in TEST()
117     processor->setWorldToScreenPose(0, Pose3f());  in TEST()
119     processor->calculate(0);  in TEST()
121     processor->setDesiredMode(HeadTrackingMode::WORLD_RELATIVE);  in TEST()
122     processor->setWorldToHeadPose(0, targetHeadToWorld.inverse(), Twist3f());  in TEST()
125     processor->calculate(0);  in TEST()
126     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, processor->getActualMode());  in TEST()
127     EXPECT_EQ(processor->getHeadToStagePose(), Pose3f());  in TEST()
129     processor->calculate(2);  in TEST()
130     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, processor->getActualMode());  in TEST()
131     EXPECT_EQ(processor->getHeadToStagePose(), Pose3f({2, 0, 0}, rotateZ(M_PI / 4)));  in TEST()
133     processor->calculate(4);  in TEST()
134     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, processor->getActualMode());  in TEST()
135     EXPECT_EQ(processor->getHeadToStagePose(), targetHeadToWorld);  in TEST()
138     processor->setWorldToHeadPose(4, Pose3f(), Twist3f());  in TEST()
139     processor->calculate(5);  in TEST()
140     EXPECT_EQ(HeadTrackingMode::WORLD_RELATIVE, processor->getActualMode());  in TEST()
141     EXPECT_EQ(processor->getHeadToStagePose(), Pose3f());  in TEST()