Changing all references for quaternion to 9axis_quaternion

- Changing all references to ensure that 9axis_quaternion is
differentiated from geomagnetic quaternion orientation representations
-Changed all related standalone test files

Change-Id: Ic91ad79853504ed78bc7960346687fce462add31

diff --git a/src/sensor_fusion/orientation_filter.cpp b/src/sensor_fusion/orientation_filter.cpp
index 5e0a354def366b2b663f550a870e2eff97caa2ee..bd1a99157f9558741e18d7c7a374052f9ebf4dcf 100644 (file)
--- a/src/sensor_fusion/orientation_filter.cpp
+++ b/src/sensor_fusion/orientation_filter.cpp
@@ -223,7 +223,7 @@ inline void orientation_filter<TYPE>::time_update()
 
        quat_output = phase_correction(m_quat_driv, m_quat_aid);
 
-       m_quaternion = quat_output;
+       m_quat_9axis = quat_output;
 
        orientation = quat2euler(quat_output);
 
@@ -320,13 +320,13 @@ rotation_matrix<TYPE> orientation_filter<TYPE>::get_rotation_matrix(const sensor
 }
 
 template <typename TYPE>
-quaternion<TYPE> orientation_filter<TYPE>::get_quaternion(const sensor_data<TYPE> accel,
+quaternion<TYPE> orientation_filter<TYPE>::get_9axis_quaternion(const sensor_data<TYPE> accel,
                const sensor_data<TYPE> gyro, const sensor_data<TYPE> magnetic)
 {
 
        get_orientation(accel, gyro, magnetic);
 
-       return m_quaternion;
+       return m_quat_9axis;
 }
 
 #endif  //_ORIENTATION_FILTER_H_

diff --git a/src/sensor_fusion/orientation_filter.h b/src/sensor_fusion/orientation_filter.h
index 40e2c506653a2959aba838de16cbeb2e02a0c9ac..200bf19b6e252ae0b42f02710909814f4b778381 100644 (file)
--- a/src/sensor_fusion/orientation_filter.h
+++ b/src/sensor_fusion/orientation_filter.h
@@ -52,7 +52,7 @@ public:
        quaternion<TYPE> m_quat_driv;
        rotation_matrix<TYPE> m_rot_matrix;
        euler_angles<TYPE> m_orientation;
-       quaternion<TYPE> m_quaternion;
+       quaternion<TYPE> m_quat_9axis;
        TYPE m_gyro_dt;
 
        int m_pitch_phase_compensation;
@@ -74,7 +74,7 @@ public:
                        const sensor_data<TYPE> gyro, const sensor_data<TYPE> magnetic);
        rotation_matrix<TYPE> get_rotation_matrix(const sensor_data<TYPE> accel,
                        const sensor_data<TYPE> gyro, const sensor_data<TYPE> magnetic);
-       quaternion<TYPE> get_quaternion(const sensor_data<TYPE> accel,
+       quaternion<TYPE> get_9axis_quaternion(const sensor_data<TYPE> accel,
                        const sensor_data<TYPE> gyro, const sensor_data<TYPE> magnetic);
 };
 

diff --git a/src/sensor_fusion/test/orientation_sensor.cpp b/src/sensor_fusion/test/orientation_sensor.cpp
index 82c227fb985e3a67a43bc9102d9adfb5c14ad893..39ee81bd7fde434536950859e9fa1589e61c26b1 100644 (file)
--- a/src/sensor_fusion/test/orientation_sensor.cpp
+++ b/src/sensor_fusion/test/orientation_sensor.cpp
@@ -78,7 +78,7 @@ rotation_matrix<float> orientation_sensor::get_rotation_matrix(sensor_data<float
        return orien_filter.get_rotation_matrix(accel_data, gyro_data, magnetic_data);
 }
 
-quaternion<float> orientation_sensor::get_quaternion(sensor_data<float> accel_data,
+quaternion<float> orientation_sensor::get_9axis_quaternion(sensor_data<float> accel_data,
                sensor_data<float> gyro_data, sensor_data<float> magnetic_data)
 {
        pre_process_data(accel_data, accel_data, bias_accel, sign_accel, scale_accel);
@@ -92,7 +92,7 @@ quaternion<float> orientation_sensor::get_quaternion(sensor_data<float> accel_da
        orien_filter.m_azimuth_phase_compensation = azimuth_phase_compensation;
        orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor;
 
-       return orien_filter.get_quaternion(accel_data, gyro_data, magnetic_data);
+       return orien_filter.get_9axis_quaternion(accel_data, gyro_data, magnetic_data);
 }
 
 #endif

diff --git a/src/sensor_fusion/test/orientation_sensor.h b/src/sensor_fusion/test/orientation_sensor.h
index 1ead53ed039667d3d2c94b7beca0c3fa71b691fd..4ab0fb39c0302fdb0f43428860f0253bdf68b46a 100644 (file)
--- a/src/sensor_fusion/test/orientation_sensor.h
+++ b/src/sensor_fusion/test/orientation_sensor.h
@@ -31,7 +31,7 @@ public:
                        sensor_data<float> gyro, sensor_data<float> magnetic);
        rotation_matrix<float> get_rotation_matrix(sensor_data<float> accel,
                        sensor_data<float> gyro, sensor_data<float> magnetic);
-       quaternion<float> get_quaternion(sensor_data<float> accel,
+       quaternion<float> get_9axis_quaternion(sensor_data<float> accel,
                        sensor_data<float> gyro, sensor_data<float> magnetic);
 };
 

diff --git a/src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp b/src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp
index 12058e080b3c000a68c8d27195ee6ea96e8182f9..a67cc8247177d46e3f20d77a7b97559df15bb471 100644 (file)
--- a/src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp
+++ b/src/sensor_fusion/test/test_projects/orientation_sensor_test/orientation_sensor_main.cpp
@@ -37,7 +37,7 @@ int main()
        unsigned long long time_stamp;
        euler_angles<float> orientation;
        rotation_matrix<float> orientation_mat;
-       quaternion<float> orientation_quat;
+       quaternion<float> orientation_9axis_quat;
        orientation_sensor orien_sensor1, orien_sensor2, orien_sensor3;
 
        accel_in.open(((string)ORIENTATION_DATA_PATH + (string)"accel.txt").c_str());
@@ -87,9 +87,9 @@ int main()
 
                cout << "Orientation matrix\t" << orientation_mat.m_rot_mat << "\n\n";
 
-               orientation_quat = orien_sensor3.get_quaternion(accel_data, gyro_data, magnetic_data);
+               orientation_9axis_quat = orien_sensor3.get_9axis_quaternion(accel_data, gyro_data, magnetic_data);
 
-               cout << "Orientation quaternion\t" << orientation_quat.m_quat << "\n\n";
+               cout << "Orientation 9-axis quaternion\t" << orientation_9axis_quat.m_quat << "\n\n";
        }
 
        accel_in.close();