4 * Copyright (c) 2014 Samsung Electronics Co., Ltd.
6 * Licensed under the Apache License, Version 2.0 (the "License");
7 * you may not use this file except in compliance with the License.
8 * You may obtain a copy of the License at
10 * http://www.apache.org/licenses/LICENSE-2.0
12 * Unless required by applicable law or agreed to in writing, software
13 * distributed under the License is distributed on an "AS IS" BASIS,
14 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
15 * See the License for the specific language governing permissions and
16 * limitations under the License.
20 #ifdef _GRAVITY_SENSOR_H_
22 #define GRAVITY 9.80665
24 sensor_data<float> gravity_sensor::get_gravity(const sensor_data<float> accel,
25 const sensor_data<float> gyro, const sensor_data<float> magnetic)
27 euler_angles<float> orientation;
28 sensor_data<float> gravity;
30 orientation = orien_sensor.get_orientation(accel, gyro, magnetic);
32 gravity.m_data.m_vec[0] = GRAVITY * sin(orientation.m_ang.m_vec[0]);
33 gravity.m_data.m_vec[1] = GRAVITY * sin(orientation.m_ang.m_vec[1]);
34 gravity.m_data.m_vec[2] = GRAVITY * cos(orientation.m_ang.m_vec[0]) *
35 cos(orientation.m_ang.m_vec[1]);