src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp

   1 /*
   2  * sensord
   3  *
   4  * Copyright (c) 2014 Samsung Electronics Co., Ltd.
   5  *
   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
   9  *
  10  * http://www.apache.org/licenses/LICENSE-2.0
  11  *
  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.
  17  *
  18  */
  19
  20 #include "../../orientation_sensor.h"
  21 #include <stdlib.h>
  22 #include <iostream>
  23 #include <fstream>
  24 #include <string>
  25 using namespace std;
  26
  27 #define ORIENTATION_DATA_PATH "../../../design/data/100ms/orientation/roll_pitch_yaw/"
  28 #define ORIENTATION_DATA_SIZE 1095
  29
  30 int main()
  31 {
  32         int data_available = ORIENTATION_DATA_SIZE;
  33         ifstream accel_in, gyro_in, mag_in;
  34         ofstream orien_file;
  35         string line_accel, line_gyro, line_magnetic;
  36         float sdata[3];
  37         unsigned long long time_stamp;
  38         euler_angles<float> orientation;
  39         rotation_matrix<float> orientation_mat;
  40         quaternion<float> orientation_quat;
  41         orientation_sensor orien_sensor1, orien_sensor2, orien_sensor3;
  42
  43         accel_in.open(((string)ORIENTATION_DATA_PATH + (string)"accel.txt").c_str());
  44         gyro_in.open(((string)ORIENTATION_DATA_PATH + (string)"gyro.txt").c_str());
  45         mag_in.open(((string)ORIENTATION_DATA_PATH + (string)"magnetic.txt").c_str());
  46
  47         orien_file.open(((string)"orientation.txt").c_str());
  48
  49         char *token = NULL;
  50
  51         while (data_available-- > 0)
  52         {
  53                 getline(accel_in, line_accel);
  54                 sdata[0] = strtof(line_accel.c_str(), &token);
  55                 sdata[1] = strtof(token, &token);
  56                 sdata[2] = strtof(token, &token);
  57                 time_stamp = strtoull (token, NULL, 10);
  58                 sensor_data<float> accel_data(sdata[0], sdata[1], sdata[2], time_stamp);
  59
  60                 cout << "Accel Data\t" << accel_data.m_data << "\t Time Stamp\t" << accel_data.m_time_stamp << "\n\n";
  61
  62                 getline(gyro_in, line_gyro);
  63                 sdata[0] = strtof(line_gyro.c_str(), &token);
  64                 sdata[1] = strtof(token, &token);
  65                 sdata[2] = strtof(token, &token);
  66                 time_stamp = strtoull (token, NULL, 10);
  67                 sensor_data<float> gyro_data(sdata[0], sdata[1], sdata[2], time_stamp);
  68
  69                 cout << "Gyro Data\t" << gyro_data.m_data << "\t Time Stamp\t" << gyro_data.m_time_stamp << "\n\n";
  70
  71                 getline(mag_in, line_magnetic);
  72                 sdata[0] = strtof(line_magnetic.c_str(), &token);
  73                 sdata[1] = strtof(token, &token);
  74                 sdata[2] = strtof(token, &token);
  75                 time_stamp = strtoull (token, NULL, 10);
  76                 sensor_data<float> magnetic_data(sdata[0], sdata[1], sdata[2], time_stamp);
  77
  78                 cout << "Magnetic Data\t" << magnetic_data.m_data << "\t Time Stamp\t" << magnetic_data.m_time_stamp << "\n\n";
  79
  80                 orientation = orien_sensor1.get_orientation(accel_data, gyro_data, magnetic_data);
  81
  82                 orien_file << orientation.m_ang;
  83
  84                 cout << "Orientation angles\t" << orientation.m_ang << "\n\n";
  85
  86                 orientation_mat = orien_sensor2.get_rotation_matrix(accel_data, gyro_data, magnetic_data);
  87
  88                 cout << "Orientation matrix\t" << orientation_mat.m_rot_mat << "\n\n";
  89
  90                 orientation_quat = orien_sensor3.get_quaternion(accel_data, gyro_data, magnetic_data);
  91
  92                 cout << "Orientation quaternion\t" << orientation_quat.m_quat << "\n\n";
  93         }
  94
  95         accel_in.close();
  96         gyro_in.close();
  97         mag_in.close();
  98         orien_file.close();
  99
 100         return 0;
 101 }