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 _LINEAR_ACCELERATION_SENSOR_H_
22 sensor_data<float> linear_acceleration_sensor::get_linear_acceleration(const sensor_data<float> accel,
23 const sensor_data<float> gyro, const sensor_data<float> magnetic)
25 sensor_data<float> gravity_data;
26 float la_x, la_y, la_z;
28 gravity_data = grav_sensor.get_gravity(accel, gyro, magnetic);
30 la_x = accel.m_data.m_vec[0] - gravity_data.m_data.m_vec[1];
31 la_y = accel.m_data.m_vec[1] - gravity_data.m_data.m_vec[0];
32 la_z = accel.m_data.m_vec[2] - gravity_data.m_data.m_vec[2];
34 sensor_data<float> lin_accel_data(la_x, la_y, la_z);
36 return lin_accel_data;