adding estimate_geomagtic_rv implementation

Adding wrapper octave implementation for computing geomagnetic
rotation vector which would use the same estimate_orientation
implementation for computing the 9-axis rotation vector.

Change-Id: Id3f16a34357bc5439276521ac72c368cd7c8d591

diff --git a/src/sensor_fusion/design/lib/estimate_geomagnetic_rv.m b/src/sensor_fusion/design/lib/estimate_geomagnetic_rv.m
new file mode 100755 (executable)
index 0000000..a3ac4da
--- /dev/null
+++ b/src/sensor_fusion/design/lib/estimate_geomagnetic_rv.m
@@ -0,0 +1,47 @@
+% estimate_gravity
+%
+% Copyright (c) 2014 Samsung Electronics Co., Ltd.
+%
+% 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.
+
+% Gravitational Force Estimation function
+%
+% - Orientation Estimation using estimate_orientation function
+% - Project the orientation on the device reference axes to obtain
+%   gravitational force on specific reference axes
+
+
+function [Quat_aid]  = estimate_geomagnetic_rv(Accel_data, Mag_data)
+
+GRAVITY = 9.80665;
+RAD2DEG = 57.2957795;
+
+PITCH_PHASE_CORRECTION = -1;
+ROLL_PHASE_CORRECTION = -1;
+YAW_PHASE_CORRECTION = -1;
+
+BUFFER_SIZE = size(Accel_data,2);
+
+Gravity = zeros(3,BUFFER_SIZE);
+
+OR_driv = zeros(3,BUFFER_SIZE);
+Gyro_data = zeros(3,BUFFER_SIZE);
+
+Quat_driv = zeros(4,BUFFER_SIZE);
+Quat_aid = zeros(4,BUFFER_SIZE);
+Quat_err = zeros(4,BUFFER_SIZE);
+
+% estimate orientation
+[Quat_driv, Quat_aid, Quat_err]  = estimate_orientation(Accel_data, Gyro_data, Mag_data);
+
+end