--- /dev/null
+/*
+ * sensord
+ *
+ * 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.
+ *
+ */
+
+#include "orientation_filter.h"
+
+#define MOVING_AVERAGE_WINDOW_LENGTH 20
+#define RAD2DEG 57.2957795
+#define DEG2RAD 0.0174532925
+#define US2S (1.0 / 1000000.0)
+#define GRAVITY 9.80665
+#define PI 3.141593
+
+// Gyro Types
+// Systron-donner "Horizon"
+#define ZIGMA_W (0.05 * DEG2RAD) //deg/s
+#define TAU_W 1000 //secs
+// Crossbow DMU-6X
+//#define ZIGMA_W 0.05 * DEG2RAD //deg/s
+//#define TAU_W 300 //secs
+// FOGs (KVH Autogyro and Crossbow DMU-FOG)
+//#define ZIGMA_W 0 //deg/s
+
+template <typename TYPE>
+orientation_filter<TYPE>::orientation_filter()
+{
+
+}
+
+template <typename TYPE>
+orientation_filter<TYPE>::~orientation_filter()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::filter_sensor_data(sensor_data<TYPE> accel,
+ sensor_data<TYPE> gyro, sensor_data<TYPE> magnetic)
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::orientation_triad_algorithm()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::compute_aiding_var()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::compute_driving_var()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::compute_process_covar()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::compute_measurement_covar()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::compute_prediction_covar()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::compute_quat_diff()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::compute_quat_sum()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::update_quat_sum()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::time_update()
+{
+
+}
+
+template <typename TYPE>
+inline void orientation_filter<TYPE>::measurement_update()
+{
+
+}
+
+template <typename TYPE>
+inline euler_angles<TYPE> orientation_filter<TYPE>::get_corrected_orientation()
+{
+ euler_angles<TYPE> euler_ang;
+
+ return euler_ang;
+}
+
+template <typename TYPE>
+euler_angles<TYPE> orientation_filter<TYPE>::get_orientation(sensor_data<TYPE> accel,
+ sensor_data<TYPE> gyro, sensor_data<TYPE> magnetic)
+{
+ euler_angles<TYPE> cor_euler_ang;
+
+ filter_sensor_data(accel, gyro, magnetic);
+
+ orientation_triad_algorithm();
+
+ compute_aiding_var();
+
+ compute_driving_var();
+
+ compute_measurement_covar();
+
+ compute_prediction_covar();
+
+ compute_quat_diff();
+
+ compute_quat_sum();
+
+ update_quat_sum();
+
+ time_update();
+
+ measurement_update();
+
+ cor_euler_ang = get_corrected_orientation();
+
+ return cor_euler_ang;
+}
--- /dev/null
+/*
+ * sensord
+ *
+ * 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.
+ *
+ */
+
+#ifndef _ORIENTATION_FILTER_H
+#define _ORIENTATION_FILTER_H
+
+#include "matrix.h"
+#include "vector.h"
+#include "sensor_data.h"
+#include "quaternion.h"
+#include "euler_angles.h"
+#include "rotation_matrix.h"
+
+template <typename TYPE>
+class orientation_filter {
+public:
+ sensor_data<TYPE> filt_accel[2];
+ sensor_data<TYPE> filt_gyro[2];
+ sensor_data<TYPE> filt_magnetic[2];
+ matrix<TYPE> transition_matrix;
+ matrix<TYPE> prediction_covariance;
+ vector<TYPE> state_new;
+ vector<TYPE> state_old;
+ vector<TYPE> state_error;
+ vector<TYPE> bias_correction;
+ quaternion<TYPE> quat_diff;
+ quaternion<TYPE> quat_sum;
+ quaternion<TYPE> quat_aid;
+ quaternion<TYPE> quat_driv;
+ quaternion<TYPE> quat_error;
+ euler_angles<TYPE> euler_error;
+ rotation_matrix<TYPE> rot_matrix;
+ euler_angles<TYPE> orientation;
+
+ orientation_filter();
+ ~orientation_filter();
+
+ inline void filter_sensor_data(sensor_data<TYPE> accel,
+ sensor_data<TYPE> gyro, sensor_data<TYPE> magnetic);
+ inline void orientation_triad_algorithm();
+ inline void compute_aiding_var();
+ inline void compute_driving_var();
+ inline void compute_process_covar();
+ inline void compute_measurement_covar();
+ inline void compute_prediction_covar();
+ inline void compute_quat_diff();
+ inline void compute_quat_sum();
+ inline void update_quat_sum();
+ inline void time_update();
+ inline void measurement_update();
+ inline euler_angles<TYPE> get_corrected_orientation();
+
+ euler_angles<TYPE> get_orientation(sensor_data<TYPE> accel,
+ sensor_data<TYPE> gyro, sensor_data<TYPE> magnetic);
+};
+
+#include "orientation_filter.cpp"
+
+#endif /* _ORIENTATION_FILTER_H */
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>orientation_filter_main</name>
+ <comment></comment>
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+ <triggers>full,incremental,</triggers>
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+ </arguments>
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+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
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+ </arguments>
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+ <nature>org.eclipse.cdt.core.cnature</nature>
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--- /dev/null
+/*
+ * sensord
+ *
+ * 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.
+ *
+ */
+
+#include "../../orientation_filter.h"
+#include <stdlib.h>
+#include <iostream>
+#include <fstream>
+#include <string>
+using namespace std;
+
+#define ORIENTATION_DATA_PATH "../../../../design/data/100ms/orientation/roll_pitch_yaw/"
+#define ORIENTATION_DATA_SIZE 100
+
+int main()
+{
+ int data_available = ORIENTATION_DATA_SIZE;
+ ifstream accel_file, gyro_file, magnetic_file;
+ string line_accel, line_gyro, line_magnetic;
+ float sdata[3];
+ unsigned long long time_stamp;
+ euler_angles<float> orientation;
+ orientation_filter<float> orien_filter;
+
+ accel_file.open(((string)ORIENTATION_DATA_PATH + (string)"accel.txt").c_str());
+ gyro_file.open(((string)ORIENTATION_DATA_PATH + (string)"gyro.txt").c_str());
+ magnetic_file.open(((string)ORIENTATION_DATA_PATH + (string)"magnetic.txt").c_str());
+
+ char *token = NULL;
+
+ while (data_available-- > 0)
+ {
+ getline(accel_file, line_accel);
+ sdata[0] = strtof(line_accel.c_str(), &token);
+ sdata[1] = strtof(token, &token);
+ sdata[2] = strtof(token, &token);
+ time_stamp = strtoull (token, NULL, 10);
+ sensor_data<float> accel_data(sdata[0], sdata[1], sdata[2], time_stamp);
+
+ cout << "Accel Data\t" << accel_data.m_data << "\t Time Stamp\t" << accel_data.m_time_stamp << "\n\n";
+
+ getline(gyro_file, line_gyro);
+ sdata[0] = strtof(line_gyro.c_str(), &token);
+ sdata[1] = strtof(token, &token);
+ sdata[2] = strtof(token, &token);
+ time_stamp = strtoull (token, NULL, 10);
+ sensor_data<float> gyro_data(sdata[0], sdata[1], sdata[2], time_stamp);
+
+ cout << "Gyro Data\t" << gyro_data.m_data << "\t Time Stamp\t" << gyro_data.m_time_stamp << "\n\n";
+
+ getline(magnetic_file, line_magnetic);
+ sdata[0] = strtof(line_magnetic.c_str(), &token);
+ sdata[1] = strtof(token, &token);
+ sdata[2] = strtof(token, &token);
+ time_stamp = strtoull (token, NULL, 10);
+ sensor_data<float> magnetic_data(sdata[0], sdata[1], sdata[2], time_stamp);
+
+ cout << "Magnetic Data\t" << magnetic_data.m_data << "\t Time Stamp\t" << magnetic_data.m_time_stamp << "\n\n";
+
+ orientation = orien_filter.get_orientation(accel_data, gyro_data, magnetic_data);
+
+ }
+
+ return 0;
+}
projects / platform / core / system / sensord.git / commitdiff