+++ /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.
- *
- */
-
-#ifdef _GRAVITY_SENSOR_H_
-
-#define GRAVITY 9.80665
-
-sensor_data<float> gravity_sensor::get_gravity(const sensor_data<float> accel,
- const sensor_data<float> gyro, const sensor_data<float> magnetic)
-{
- euler_angles<float> orientation;
- sensor_data<float> gravity;
-
- orientation = orien_sensor.get_orientation(accel, gyro, magnetic);
-
- gravity.m_data.m_vec[0] = GRAVITY * sin(orientation.m_ang.m_vec[0]);
- gravity.m_data.m_vec[1] = GRAVITY * sin(orientation.m_ang.m_vec[1]);
- gravity.m_data.m_vec[2] = GRAVITY * cos(orientation.m_ang.m_vec[0]) *
- cos(orientation.m_ang.m_vec[1]);
-
- return gravity;
-}
-
-#endif
+++ /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 _GRAVITY_SENSOR_H_
-#define _GRAVITY_SENSOR_H_
-
-#include "orientation_sensor.h"
-
-class gravity_sensor
-{
-public:
- orientation_sensor orien_sensor;
-
- sensor_data<float> get_gravity(const sensor_data<float> accel,
- const sensor_data<float> gyro, const sensor_data<float> magnetic);
-};
-
-#include "gravity_sensor.cpp"
-
-#endif /* _GRAVITY_SENSOR_H_ */
+++ /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.
- *
- */
-
-#ifdef _LINEAR_ACCELERATION_SENSOR_H_
-
-sensor_data<float> linear_acceleration_sensor::get_linear_acceleration(const sensor_data<float> accel,
- const sensor_data<float> gyro, const sensor_data<float> magnetic)
-{
- sensor_data<float> gravity_data;
- float la_x, la_y, la_z;
-
- gravity_data = grav_sensor.get_gravity(accel, gyro, magnetic);
-
- la_x = accel.m_data.m_vec[0] - gravity_data.m_data.m_vec[1];
- la_y = accel.m_data.m_vec[1] - gravity_data.m_data.m_vec[0];
- la_z = accel.m_data.m_vec[2] - gravity_data.m_data.m_vec[2];
-
- sensor_data<float> lin_accel_data(la_x, la_y, la_z);
-
- return lin_accel_data;
-}
-
-#endif
+++ /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 _LINEAR_ACCELERATION_SENSOR_H_
-#define _LINEAR_ACCELERATION_SENSOR_H_
-
-#include "gravity_sensor.h"
-
-class linear_acceleration_sensor
-{
-public:
- gravity_sensor grav_sensor;
-
- sensor_data<float> get_linear_acceleration(const sensor_data<float> accel,
- const sensor_data<float> gyro, const sensor_data<float> magnetic);
-};
-
-#include "linear_acceleration_sensor.cpp"
-
-#endif /* _LINEAR_ACCELERATION_SENSOR_H_ */
+++ /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.
- *
- */
-
-#ifdef _ORIENTATION_SENSOR_H_
-
-float bias_accel[] = {0.098586, 0.18385, (10.084 - GRAVITY)};
-float bias_gyro[] = {-5.3539, 0.24325, 2.3391};
-float bias_magnetic[] = {0, 0, 0};
-int sign_accel[] = {+1, +1, +1};
-int sign_gyro[] = {+1, +1, +1};
-int sign_magnetic[] = {+1, +1, +1};
-float scale_accel = 1;
-float scale_gyro = 575;
-float scale_magnetic = 1;
-
-int pitch_phase_compensation = -1;
-int roll_phase_compensation = -1;
-int azimuth_phase_compensation = -1;
-int magnetic_alignment_factor = -1;
-
-void pre_process_data(sensor_data<float> &data_out, sensor_data<float> &data_in, float *bias, int *sign, float scale)
-{
- data_out.m_data.m_vec[0] = sign[0] * (data_in.m_data.m_vec[0] - bias[0]) / scale;
- data_out.m_data.m_vec[1] = sign[1] * (data_in.m_data.m_vec[1] - bias[1]) / scale;
- data_out.m_data.m_vec[2] = sign[2] * (data_in.m_data.m_vec[2] - bias[2]) / scale;
-
- data_out.m_time_stamp = data_in.m_time_stamp;
-}
-
-euler_angles<float> orientation_sensor::get_orientation(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);
- normalize(accel_data);
- pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
- pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
- normalize(magnetic_data);
-
- orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
- orien_filter.m_roll_phase_compensation = roll_phase_compensation;
- orien_filter.m_azimuth_phase_compensation = azimuth_phase_compensation;
- orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor;
-
- return orien_filter.get_orientation(accel_data, gyro_data, magnetic_data);
-}
-
-rotation_matrix<float> orientation_sensor::get_rotation_matrix(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);
- normalize(accel_data);
- pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
- pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
- normalize(magnetic_data);
-
- orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
- orien_filter.m_roll_phase_compensation = roll_phase_compensation;
- orien_filter.m_azimuth_phase_compensation = azimuth_phase_compensation;
- orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor;
-
- return orien_filter.get_rotation_matrix(accel_data, gyro_data, magnetic_data);
-}
-
-quaternion<float> orientation_sensor::get_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);
- normalize(accel_data);
- pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
- pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
- normalize(magnetic_data);
-
- orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
- orien_filter.m_roll_phase_compensation = roll_phase_compensation;
- 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);
-}
-
-#endif
+++ /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_SENSOR_H_
-#define _ORIENTATION_SENSOR_H_
-
-#include "../orientation_filter.h"
-
-class orientation_sensor
-{
-public:
- orientation_filter<float> orien_filter;
-
- euler_angles<float> get_orientation(sensor_data<float> accel,
- 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,
- sensor_data<float> gyro, sensor_data<float> magnetic);
-};
-
-#include "orientation_sensor.cpp"
-
-#endif /* _ORIENTATION_SENSOR_H_ */
+++ /dev/null
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- <value>true</value>
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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 "../../../euler_angles.h"
-
-int main()
-{
- float arr0[3] = {234.98, 345.24, -56.12};
- float arr1[3] = {56, -34, 76};
- float arr2[4] = {0.6, 0.6, -.18, -.44};
- float arr3[4] = {-0.5, -0.36, .43, .03};
-
- vect<float> v0(3, arr0);
- vect<float> v1(3, arr1);
- vect<float> v2(4, arr2);
- vect<float> v3(4, arr3);
-
- quaternion<float> q1(v2);
- quaternion<float> q2(v3);
-
- euler_angles<float> e0(v0);
- euler_angles<float> e1(v1);
- euler_angles<float> e2((float)234.98, (float)345.24, (float)-56.12);
- euler_angles<float> e3(e1);
- euler_angles<float> e4;
-
- cout << "Constructor tests\n";
- cout << "input\t" << v0 << "\n";
- cout << "output\t" << e0.m_ang << "\n\n";
- cout << "input\t" << v1 << "\n";
- cout << "output\t" << e1.m_ang << "\n\n";
- cout << "input\t" << v0 << "\n";
- cout << "output\t" << e2.m_ang << "\n\n";
- cout << "input\t" << v1 << "\n";
- cout << "output\t" << e3.m_ang << "\n\n";
- cout << "default constructor\n";
- cout << "output\t" << e4.m_ang << "\n\n";
-
- cout << "Quaternion to Euler\n";
- euler_angles<float> e5 = quat2euler(q1);
- cout << "input\t" << q1.m_quat << "\n";
- cout << "output\t" << e5.m_ang << "\n\n";
- euler_angles<float> e8 = quat2euler(q2);
- cout << "input\t" << q2.m_quat << "\n";
- cout << "output\t" << e8.m_ang << "\n\n";
-
- cout << "Radians to Degrees\n";
- euler_angles<float> e6 = deg2rad(e0);
- cout << "input\t" << e0.m_ang << "\n";
- cout << "output\t" << e6.m_ang << "\n\n";
-
- cout << "Degrees to Radians\n";
- euler_angles<float> e7 = rad2deg(e6);
- cout << "input\t" << e6.m_ang << "\n";
- cout << "output\t" << e7.m_ang << "\n\n";
-}
-
+++ /dev/null
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+++ /dev/null
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- <comment></comment>
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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 "../../gravity_sensor.h"
-#include <stdlib.h>
-#include <iostream>
-#include <fstream>
-#include <string>
-using namespace std;
-
-#define GRAVITY_DATA_PATH "../../../design/data/100ms/gravity/throw/"
-#define GRAVITY_DATA_SIZE 135
-
-int main()
-{
- int data_available = GRAVITY_DATA_SIZE;
- ifstream accel_in, gyro_in, mag_in;
- ofstream gravity_file;
- string line_accel, line_gyro, line_magnetic;
- float sdata[3];
- unsigned long long time_stamp;
- sensor_data<float> gravity;
- gravity_sensor grav_sensor;
-
- accel_in.open(((string)GRAVITY_DATA_PATH + (string)"accel.txt").c_str());
- gyro_in.open(((string)GRAVITY_DATA_PATH + (string)"gyro.txt").c_str());
- mag_in.open(((string)GRAVITY_DATA_PATH + (string)"magnetic.txt").c_str());
-
- gravity_file.open(((string)"gravity.txt").c_str());
-
- char *token = NULL;
-
- while (data_available-- > 0)
- {
- getline(accel_in, 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_in, 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(mag_in, 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";
-
- gravity = grav_sensor.get_gravity(accel_data, gyro_data, magnetic_data);
-
- gravity_file << gravity.m_data;
-
- cout << "Gravity Data\t" << gravity.m_data << "\n\n";
- }
-
- accel_in.close();
- gyro_in.close();
- mag_in.close();
- gravity_file.close();
-
- return 0;
-}
+++ /dev/null
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+++ /dev/null
-<?xml version="1.0" encoding="UTF-8"?>
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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 "../../linear_acceleration_sensor.h"
-#include <stdlib.h>
-#include <iostream>
-#include <fstream>
-#include <string>
-using namespace std;
-
-#define LA_DATA_PATH "../../../design/data/100ms/linear_acceleration/move_x_y_z/"
-#define LA_DATA_SIZE 170
-
-int main()
-{
- int data_available = LA_DATA_SIZE;
- ifstream accel_in, gyro_in, mag_in;
- ofstream la_file;
- string line_accel, line_gyro, line_magnetic;
- float sdata[3];
- unsigned long long time_stamp;
- sensor_data<float> lin_accel;
- linear_acceleration_sensor la_sensor;
-
- accel_in.open(((string)LA_DATA_PATH + (string)"accel.txt").c_str());
- gyro_in.open(((string)LA_DATA_PATH + (string)"gyro.txt").c_str());
- mag_in.open(((string)LA_DATA_PATH + (string)"magnetic.txt").c_str());
-
- la_file.open(((string)"linear_acceleration.txt").c_str());
-
- char *token = NULL;
-
- while (data_available-- > 0)
- {
- getline(accel_in, 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_in, 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(mag_in, 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";
-
- lin_accel = la_sensor.get_linear_acceleration(accel_data, gyro_data, magnetic_data);
-
- la_file << lin_accel.m_data;
-
- cout << "Linear Acceleration Data\t" << lin_accel.m_data << "\n\n";
- }
-
- accel_in.close();
- gyro_in.close();
- mag_in.close();
- la_file.close();
-
- return 0;
-}
+++ /dev/null
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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 "../../../matrix.h"
-
-int main()
-{
- float arr0[2][2] = {{-2.243, 2.57},{3.56, -3.02}};
- float arr1[2][2] = {{2.2, 2.5},{3.5, 3.0}};
- float arr5[3][2] = {{0.22, 4.56}, {3.652, 5.86}, {1.430, 0.45}};
- float arr11[1][3] = {{2.0, 3.0, 4.0}};
- float arr12[3][1] = {{2.0}, {1.0}, {3.0}};
- float arr15[2][3] = {{20.0, -40.0, 10.0}, {36.0, 52.0, -55.0}};
- float arr3[3][3] = {{20.2, 40.5, 10.0}, {3.6, 52.0, 5.5}, {1.0, 45.5, 66.6}};
- float arr4[3][3] = {{2.24, 0.5, 0.023}, {3.675, 5.32, 0.556}, {1.023, 45.75, 621.6}};
- float arr8[3][3] = {{4.75, 0.65, 0.123}, {0.075, 5.302, 0.56}, {1.113, 0.475, 2.362}};
- float arr9[3][3] = {{1, 2, 3}, {1, 2, 3}, {1, 2, 3}};
-
- matrix<float> m1(2, 2, (float *) arr0);
- matrix<float> m2(2, 2, (float *) arr1);
- matrix<float> m3(2, 2);
- matrix<float> m10(3, 3, (float *) arr3);
- matrix<float> m11(3, 2, (float *) arr5);
- matrix<float> m6(3, 3);
- matrix<float> m13(3, 2);
- matrix<float> m12(3, 3, (float *) arr4);
- matrix<float> m15(3, 3, (float *) arr8);
- matrix<float> m20(1, 3, (float *) arr11);
- matrix<float> m21(3, 1, (float *) arr12);
- matrix<float> m22(2, 3, (float *) arr15);
- matrix<float> m9(3, 3, (float *) arr9);
-
- cout<< "Constructor Test\n";
- cout<< "\n" << m6;
-
- cout<<"\n\nAddition\n";
- m6 = m10 + m15;
- m13 = m11 + m11;
- cout<< "\n" << m10 <<"\n"<< m15;
- cout<< "\nSum:\n" << m6 << endl;
- cout<< "\n" << m11 << "\n"<< m11;
- cout<< "\nSum:\n" << m13 << endl;
-
- cout<< "\n\n\nSubtraction\n";
- m6 = m10 - m12;
- cout<< "\n" << m10 << "\n" << m12;
- cout<< "\nDifference:\n" << m6 << endl;
-
- cout<< "\n\n\nMultiplication\n";
- m6 = m10 * m12;
- m3 = m1 * m2;
- matrix<float> m7(m20.m_rows, m21.m_cols);
- m7 = m20 * m21;
- cout<< "\n" << m10 << "\n" << m12;
- cout<< "\nProduct:\n" << m6 << endl;
- cout<< "\n" << m1 << "\n" << m2;
- cout<< "\nProduct:\n" << m3 << endl;
- cout<< "\n" << m20 << "\n" << m21;
- cout<< "\nProduct:\n" << m7 << endl;
- cout<< "\n" << m9 << "\n" << m21;
- m21 = mul(m9, m21);
- cout<< "\nProduct:\n" << m21 << endl;
-
- cout<< "\n\n\nDivision\n";
- m3 = m1 / (float)2.5;
- cout<< "\n" << m1 << "\n" << "2.5";
- cout<< "\nResult:\n" << m3 << endl;
- m6 = m12 / (float)0.125;
- cout<< "\n" << m12 << "\n" << ".125";
- cout<< "\nResult:\n" << m6 << endl;
-
- float num = 5.5650;
- float num1 = -2.32;
- cout<< "\n\n\nScalar addition\n";
- m3 = m2 + num;
- m6 = m10 + num1;
- cout<< "\nNumber added:" << num;
- cout<< "\n\n" << m2;
- cout<< "\nResult:\n\n" << m3;
- cout<< "\nNumber added:" << num1;
- cout<< "\n\n" << m10;
- cout<< "\nResult:\n\n" << m6;
-
- float x = 4.0;
- float x1 = -2.5;
- cout<< "\n\n\nScalar subtraction\n";
- m13 = m11 - x;
- m6 = m10 - x1;
- cout<< "\nNumber Subtracted:" << x;
- cout<< "\n\n" << m11;
- cout<< "\nResult:\n\n" << m13;
- cout<< "\nNumber Subtracted:" << x1;
- cout<< "\n\n" << m10;
- cout<< "\nResult:\n\n" << m6;
-
- float z = 3.50;
- float z1 = -5.567;
- cout<< "\n\n\nScalar multiplication\n";
- m3 = m1 * z;
- m6 = m12 * z1;
- cout<< "\nNumber Multiplied:"<< z;
- cout<< "\n\n" << m1;
- cout<< "\nResult:\n\n" << m3;
- cout<< "\nNumber Multiplied:" << z1;
- cout<< "\n\n" << m12;
- cout<< "\nResult:\n\n" << m6;
-
- m6 = tran(m15);
- cout<< "\n\n\nTranspose:";
- cout << "\n\n" << m15;
- cout << "\nResult:\n\n" << m6;
-
- cout << "\n\nm1:\n\n" << m1;
- cout << "\n\nm2:\n\n" << m2;
- cout << "\n\n\nm1 == m2 :";
- cout << (m1 == m2);
-
- cout << "\n\nm2:\n\n" << m2;
- cout << "\n\nm2:\n\n" << m2;
- cout << "\n\n\nm2 == m2 :";
- cout << (m2 == m2);
-
- cout << "\n\nm6:\n\n" << m6;
- cout << "\n\nm6:\n\n" << m6;
- cout << "\n\n\nm6 != m6 :";
- cout << (m6 != m6);
-
- cout << "\n\nm6:\n\n" << m6;
- cout << "\n\nm1:\n\n" << m1;
- cout << "\n\n\nm6 != m1 :";
- cout << (m6 != m1);
-
-
- cout<< "\n\nAssignment\n";
- m3 = m12;
- cout<< "Input \n" << m12;
- cout<< "\nOutput:\n" << m3 << endl;
-
-}
+++ /dev/null
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+++ /dev/null
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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 1095
-
-float bias_accel[] = {0.098586, 0.18385, (10.084 - GRAVITY)};
-float bias_gyro[] = {-5.3539, 0.24325, 2.3391};
-float bias_magnetic[] = {0, 0, 0};
-int sign_accel[] = {+1, +1, +1};
-int sign_gyro[] = {+1, +1, +1};
-int sign_magnetic[] = {+1, +1, +1};
-float scale_accel = 1;
-float scale_gyro = 575;
-float scale_magnetic = 1;
-
-int pitch_phase_compensation = -1;
-int roll_phase_compensation = -1;
-int azimuth_phase_compensation = -1;
-int magnetic_alignment_factor = -1;
-
-void pre_process_data(sensor_data<float> &data_out, sensor_data<float> &data_in, float *bias, int *sign, float scale)
-{
- data_out.m_data.m_vec[0] = sign[0] * (data_in.m_data.m_vec[0] - bias[0]) / scale;
- data_out.m_data.m_vec[1] = sign[1] * (data_in.m_data.m_vec[1] - bias[1]) / scale;
- data_out.m_data.m_vec[2] = sign[2] * (data_in.m_data.m_vec[2] - bias[2]) / scale;
-
- data_out.m_time_stamp = data_in.m_time_stamp;
-}
-
-int main()
-{
- int data_available = ORIENTATION_DATA_SIZE;
- ifstream accel_in, gyro_in, mag_in;
- ofstream orien_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_in.open(((string)ORIENTATION_DATA_PATH + (string)"accel.txt").c_str());
- gyro_in.open(((string)ORIENTATION_DATA_PATH + (string)"gyro.txt").c_str());
- mag_in.open(((string)ORIENTATION_DATA_PATH + (string)"magnetic.txt").c_str());
-
- orien_file.open(((string)"orientation.txt").c_str());
-
- char *token = NULL;
-
- while (data_available-- > 0)
- {
- getline(accel_in, 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);
-
- getline(gyro_in, 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);
-
- getline(mag_in, 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);
-
- pre_process_data(accel_data, accel_data, bias_accel, sign_accel, scale_accel);
- normalize(accel_data);
- pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
- pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
- normalize(magnetic_data);
-
- cout << "Accel Data\t" << accel_data.m_data << "\t Time Stamp\t" << accel_data.m_time_stamp << "\n\n";
- cout << "Gyro Data\t" << gyro_data.m_data << "\t Time Stamp\t" << gyro_data.m_time_stamp << "\n\n";
- cout << "Magnetic Data\t" << magnetic_data.m_data << "\t Time Stamp\t" << magnetic_data.m_time_stamp << "\n\n";
-
- orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
- orien_filter.m_roll_phase_compensation = roll_phase_compensation;
- orien_filter.m_azimuth_phase_compensation = azimuth_phase_compensation;
- orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor;
-
- orientation = orien_filter.get_orientation(accel_data, gyro_data, magnetic_data);
-
- orien_file << orientation.m_ang;
-
- cout << "Orientation Data\t" << orientation.m_ang << "\n\n";
- }
-
- accel_in.close();
- gyro_in.close();
- mag_in.close();
- orien_file.close();
-
- return 0;
-}
+++ /dev/null
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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_sensor.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 1095
-
-int main()
-{
- int data_available = ORIENTATION_DATA_SIZE;
- ifstream accel_in, gyro_in, mag_in;
- ofstream orien_file;
- string line_accel, line_gyro, line_magnetic;
- float sdata[3];
- unsigned long long time_stamp;
- euler_angles<float> orientation;
- rotation_matrix<float> orientation_mat;
- quaternion<float> orientation_quat;
- orientation_sensor orien_sensor1, orien_sensor2, orien_sensor3;
-
- accel_in.open(((string)ORIENTATION_DATA_PATH + (string)"accel.txt").c_str());
- gyro_in.open(((string)ORIENTATION_DATA_PATH + (string)"gyro.txt").c_str());
- mag_in.open(((string)ORIENTATION_DATA_PATH + (string)"magnetic.txt").c_str());
-
- orien_file.open(((string)"orientation.txt").c_str());
-
- char *token = NULL;
-
- while (data_available-- > 0)
- {
- getline(accel_in, 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_in, 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(mag_in, 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_sensor1.get_orientation(accel_data, gyro_data, magnetic_data);
-
- orien_file << orientation.m_ang;
-
- cout << "Orientation angles\t" << orientation.m_ang << "\n\n";
-
- orientation_mat = orien_sensor2.get_rotation_matrix(accel_data, gyro_data, magnetic_data);
-
- cout << "Orientation matrix\t" << orientation_mat.m_rot_mat << "\n\n";
-
- orientation_quat = orien_sensor3.get_quaternion(accel_data, gyro_data, magnetic_data);
-
- cout << "Orientation quaternion\t" << orientation_quat.m_quat << "\n\n";
- }
-
- accel_in.close();
- gyro_in.close();
- mag_in.close();
- orien_file.close();
-
- return 0;
-}
+++ /dev/null
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- <value>true</value>
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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 "../../../quaternion.h"
-
-int main()
-{
- float arr0[4] = {2344.98, 345.24, 456.12, 98.33};
- float arr1[4] = {0.056, 0.34, -0.0076, 0.001};
-
- vect<float> v0(4, arr0);
- vect<float> v1(4, arr1);
-
- quaternion<float> q0(v0);
- quaternion<float> q1(v1);
- quaternion<float> q2((float)2344.98, (float)345.24, (float)456.12, (float)98.33);
- quaternion<float> q3(q1);
- quaternion<float> q4;
-
- cout << "Constructor tests\n";
- cout << "input\t" << v0 << "\n";
- cout << "output\t" << q0.m_quat << "\n\n";
- cout << "input\t" << v1 << "\n";
- cout << "output\t" << q1.m_quat << "\n\n";
- cout << "input\t" << v0 << "\n";
- cout << "output\t" << q2.m_quat << "\n\n";
- cout << "input\t" << v1 << "\n";
- cout << "output\t" << q3.m_quat << "\n\n";
- cout << "default constructor\n";
- cout << "output\t" << q4.m_quat << "\n\n";
-
- cout << "Multiplication\n";
- float val = 0.1;
- quaternion<float> q5 = q0 * val;
- cout << "input\t" << q0.m_quat << "\n" << 0.1 << "\n";
- cout << "output\t" << q5.m_quat << "\n\n";
- quaternion<float> q6 = q0 * q1;
- cout << "input\t" << q0.m_quat << "\n" << q1.m_quat << "\n";
- cout << "output\t" << q6.m_quat << "\n\n";
-
- cout << "Addition\n";
- quaternion<float> q7 = q0 + q1;
- cout << "input\t" << q0.m_quat << "\n" << q1.m_quat << "\n";
- cout << "output\t" << q7.m_quat << "\n\n";
-
- cout << "Quaternion Normalization\n";
- cout << "input\t" << q1.m_quat << "\n";
- q1.quat_normalize();
- cout << "output\t" << q1.m_quat << "\n\n";
-}
-
+++ /dev/null
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+++ /dev/null
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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 "../../../rotation_matrix.h"
-
-int main()
-{
- float arr1[3][3] = {{20.2, 40.5, 10.0}, {3.6, 52.0, 5.5}, {1.0, 45.5, 66.6}};
- float arr2[3][3] = {{2.24, 0.5, 0.023}, {3.675, 5.32, 0.556}, {1.023, 45.75, 621.6}};
- float arr3[3][3] = {{4.75, 0.65, 0.123}, {0.075, 5.302, 0.56}, {1.113, 0.475, 2.362}};
-
- matrix<float> m1(3, 3, (float *) arr1);
- matrix<float> m2(3, 3, (float *) arr2);
- matrix<float> m3(3, 3, (float *) arr3);
-
- rotation_matrix<float> rm0, rm5;
- rotation_matrix<float> rm1(m1);
- rotation_matrix<float> rm2(m2);
- rotation_matrix<float> rm3(m3);
- rotation_matrix<float> rm4(3, 3, (float *) arr1);
-
- quaternion<float> q0(-0.612372, 0.456436, 0.456436, 0.456436);
- quaternion<float> q1;
-
- cout << "Constructor tests\n";
- cout << "input\n" << m1 << "\n";
- cout << "output\n" << rm1.m_rot_mat << "\n\n";
- cout << "input\n" << m2 << "\n";
- cout << "output\n" << rm2.m_rot_mat << "\n\n";
- cout << "input\n" << m3 << "\n";
- cout << "output\n" << rm3.m_rot_mat << "\n\n";
- cout << "input\n" << m1 << "\n";
- cout << "output\n" << rm4.m_rot_mat << "\n\n";
- cout << "default constructor\n";
- cout << "output\n" << rm0.m_rot_mat << "\n\n";
-
- cout << "Quaternion to Rotation Matrix\n";
- cout << "input\n" << q0.m_quat << "\n";
- rm0 = quat2rot_mat(q0);
- cout << "output\n" << rm0.m_rot_mat << "\n\n";
-
- cout << "Rotation Matrix to Quaternion\n";
- cout << "input\n" << rm0.m_rot_mat << "\n";
- q1 = rot_mat2quat(rm0);
- cout << "output\n" << q1.m_quat << "\n\n";
-}
+++ /dev/null
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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 "../../../sensor_data.h"
-
-int main()
-{
- float arr1[3] = {1.04, -4.678, -2.34};
-
- vect<float> v1(3, arr1);
-
- sensor_data<float> sd1(2.0, 3.0, 4.0, 140737488355328);
- sensor_data<float> sd2(1.04, -4.678, -2.34);
- sensor_data<float> sd3(0.054, 1.097, 4.456, 140737488355328);
- sensor_data<float> sd10(v1, 140737488355328);
-
- cout << "Constructor tests\n";
- cout << "input\t" << v1 << "\n";
- cout << "output\t" << sd10.m_data << "\t" << sd10.m_time_stamp << "\n\n";
- cout << "input\t" << v1 << "\n";
- cout << "output\t" << sd2.m_data << "\t" << sd2.m_time_stamp << "\n\n";
-
- cout<< "Addition:\n";
- sensor_data<float> sd4 = sd1 + sd2;
- cout<< "\n" << sd1.m_data << "\n" << sd2.m_data;
- cout<< "\nSum:\n" << sd4.m_data << endl;
- sensor_data<float> sd9 = sd1 + sd10;
- cout<< "\n" << sd1.m_data << "\n" << sd10.m_data;
- cout<< "\nSum:\n" << sd9.m_data << endl;
-
- cout<< "\n\n\nNormalization:\n";
- cout<< "\n" << sd3.m_data;
- normalize(sd3);
- cout<< "\nResult:\n" << sd3.m_data << endl;
- cout<< "\n" << sd2.m_data;
- normalize(sd2);
- cout<< "\nResult:\n" << sd2.m_data << endl;
-
- float xx = 2.5;
- cout<<"\n\n\nScale data:\n";
- sensor_data<float> sd8 = scale_data(sd2, xx);
- cout<< "\n" << sd2.m_data << "\n" << xx;
- cout<< "\nResult:\n" << sd8.m_data << endl;
-}
-
+++ /dev/null
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+++ /dev/null
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-<projectDescription>
- <name>vector_test</name>
- <comment></comment>
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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 "../../../vector.h"
-
-int main()
-{
- float arr2[3] = {0.056,2.34,-65.76};
- float arr15[3] = {1.04,-4.678,-2.34};
- float arr3[4] = {1.03,2.345,6.78,5.55};
- float arr4[4] = {-6.78,-45.213,-7.89,-3.456};
- float arr8[5] = {0.0123,5.678,2.345,0.345,8.956};
- float arr0[5] = {2344.98,345.24,456.12,98.33,144.67};
- float arr1[6] = {1.234,4.5,6.8987,3.33,5.66,77.695};
- float arr43[6] = {2.3454,-0.0384,-8.90,3.455,6.785,21.345};
- float arr5[5] = {0.2,-0.4,0.6,-0.8,1.0};
-
- vect<float> v1(5, arr0);
- vect<float> v2(5, arr8);
- vect<float> v10(4, arr3);
- vect<float> v12(4, arr4);
- vect<float> v15(6, arr1);
- vect<float> v20(6, arr43);
- vect<float> v21(3, arr2);
- vect<float> v22(3, arr15);
- vect<float> v3(4);
- vect<float> v6(3);
- vect<float> v13(5);
- vect<float> v95(6);
- vect<float> v35(5, arr5);
-
- float arr57[3][3] = {{2.24, 0.5, 0.023}, {3.675, 5.32, 0.556}, {1.023, 45.75, 621.6}};
- matrix<float> m12(3, 3, (float *) arr57);
- float arr67[3][1] = {{2.0}, {3.0}, {4.0}};
- matrix<float> m32(3, 1, (float *) arr67);
-
- cout<< "Constructor Test\n";
- cout<< "\n" << v3;
-
- cout<< "\n\nAddition\n";
- v3 = v21 + v22;
- v95 = v15 + v20;
- cout<< "\n" << v21 << "\n" << v22;
- cout<< "\nSum:\n" << v3 << endl;
- cout<< "\n" << v15 << "\n" << v20;
- cout<< "\nSum:\n" << v95 << endl;
-
- float num = 5.5650;
- float num1 = -2.32;
- cout<< "\n\n\nScalar addition\n";
- v3 = v2 + num;
- v6 = v10 + num1;
- cout<< "\nNumber added:" << num;
- cout<< "\n\n" << v2;
- cout<< "\nResult:\n\n" << v3;
- cout<< "\nNumber added:"<< num1;
- cout<< "\n\n" << v10;
- cout<< "\nResult:\n\n"<< v6;
-
- cout<< "\n\n\nSubtraction\n";
- v6 = v10 - v12;
- cout<< "\n" << v10 << "\n" << v12;
- cout<< "\nDifference:\n" << v6 << endl;
-
- float x = 4.0;
- float x1 = -2.5;
- cout<< "\n\n\nScalar subtraction\n";
- v13 = v1 - x;
- v6 = v10 - x1;
- cout<< "\nNumber Subtracted:" << x;
- cout<< "\n\n" << v1;
- cout<< "\nResult:\n\n" << v13;
- cout<< "\nNumber Subtracted:" << x1;
- cout<< "\n\n" << v10;
- cout<< "\nResult:\n\n" << v6;
-
- float xx = 7.2;
- cout<<"\n\n\nMultiplication\n";
- v13 = v2 * xx;
- cout<< "\n" << v2 <<"\n"<< xx;
- cout<< "\nProduct:\n" << v13 << endl;
-
- cout<< "\n\n\nMultiplication matrix x vector:\n";
- matrix<float> m102 = m32 * v22;
- cout<< "\n" << m32 <<"\n"<< v22;
- cout<< "\nProduct:\n"<< m102 << endl;
-
- cout<< "\n\n\nVector x Multiplication matrix:\n";
- vect<float> v102 = (v22 * m12);
- cout<< "\n" << v22 << "\n" << m12;
- cout<< "\nProduct:\n" << v102 << endl;
- float val = mul(v22, m32);
- cout<< "\n" << v22 << "\n" << m32;
- cout<< "\nProduct:\n" << val << endl;
-
- float z = 3.50;
- float z1 = -5.567;
- cout<< "\n\n\nScalar multiplication\n";
- v13 = v1 * z;
- v6 = v12 * z1;
- cout<< "\nNumber Multiplied:" << z;
- cout<< "\n\n" << v1;
- cout<< "\nResult:\n\n" << v13;
- cout<< "\nNumber Multiplied:" << z1;
- cout<< "\n\n" << v12;
- cout<< "\nResult:\n\n" << v6;
-
- float num2 = 5.5;
- cout<< "\n\n\nDivision\n";
- v3 = v1 / num2;
- cout<< "\n" << v1 << "\n" << num2;
- cout<< "\nResult:\n" << v3 << endl;
-
- cout<< "\n\n\nTranspose:";
- cout << "\n\n" << v20;
- cout << "\nResult:\n\n";
- matrix<float> m101 = (transpose(v20));
- cout << m101;
- cout << "\n\n" << m101;
- cout << "\nResult:\n\n";
- v20 = (transpose(m101));
- cout << v20;
-
- cout << "\n\nv1:\n\n" << v1;
- cout << "\n\nv2:\n\n" << v2;
- cout << "\n\n\nv1 == v2 :";
- cout << (v1 == v2);
-
- cout << "\n\nv10:\n\n" << v10;
- cout << "\n\nv10:\n\n" << v10;
- cout << "\n\n\nv10 == v10 :";
- cout << (v10 == v10);
-
- cout << "\n\nv12:\n\n" << v12;
- cout << "\n\nv15:\n\n" << v15;
- cout << "\n\n\nv12 != v15 :";
- cout << (v12 != v15);
-
- cout << "\n\nv15:\n\n" << v15;
- cout << "\n\nv15:\n\n" << v15;
- cout << "\n\n\nv15 != v15 :";
- cout << (v15 != v15);
-
- cout<< "\n\nAssignment\n";
- v3 = v1;
- cout<< "Input \n" << v1;
- cout<< "\nOutput:\n" << v3 << endl;
-
-
- vect<float> v111 = cross(v21, v22);
- cout<< "\n\n\nCross Product:";
- cout << "\n\n" << v21 << "\n\n" << v22;
- cout << "\nResult:\n\n" << v111;
-
- cout << "\n\n\nQueue insert function:";
- cout << "\nInput:\n\n" << v111;
- insert_end(v111, (float) 0.9191919);
- cout << "\nResult:\n\n" << v111;
-
- cout << "\n\n\nVariance:";
- cout << "\nInput:\n\n" << v35;
- val = var(v35);
- cout << "\nResult:\n\n" << val;
-
- cout << "\n\n\nIs Initialized:";
- cout << "\nInput:\n\n" << v35;
- cout << "\nResult:\n\n" << is_initialized(v35);
-}
-
--- /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.
+ *
+ */
+
+#ifdef _GRAVITY_SENSOR_H_
+
+#define GRAVITY 9.80665
+
+sensor_data<float> gravity_sensor::get_gravity(const sensor_data<float> accel,
+ const sensor_data<float> gyro, const sensor_data<float> magnetic)
+{
+ euler_angles<float> orientation;
+ sensor_data<float> gravity;
+
+ orientation = orien_sensor.get_orientation(accel, gyro, magnetic);
+
+ gravity.m_data.m_vec[0] = GRAVITY * sin(orientation.m_ang.m_vec[0]);
+ gravity.m_data.m_vec[1] = GRAVITY * sin(orientation.m_ang.m_vec[1]);
+ gravity.m_data.m_vec[2] = GRAVITY * cos(orientation.m_ang.m_vec[0]) *
+ cos(orientation.m_ang.m_vec[1]);
+
+ return gravity;
+}
+
+#endif
--- /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 _GRAVITY_SENSOR_H_
+#define _GRAVITY_SENSOR_H_
+
+#include "orientation_sensor.h"
+
+class gravity_sensor
+{
+public:
+ orientation_sensor orien_sensor;
+
+ sensor_data<float> get_gravity(const sensor_data<float> accel,
+ const sensor_data<float> gyro, const sensor_data<float> magnetic);
+};
+
+#include "gravity_sensor.cpp"
+
+#endif /* _GRAVITY_SENSOR_H_ */
--- /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.
+ *
+ */
+
+#ifdef _LINEAR_ACCELERATION_SENSOR_H_
+
+sensor_data<float> linear_acceleration_sensor::get_linear_acceleration(const sensor_data<float> accel,
+ const sensor_data<float> gyro, const sensor_data<float> magnetic)
+{
+ sensor_data<float> gravity_data;
+ float la_x, la_y, la_z;
+
+ gravity_data = grav_sensor.get_gravity(accel, gyro, magnetic);
+
+ la_x = accel.m_data.m_vec[0] - gravity_data.m_data.m_vec[1];
+ la_y = accel.m_data.m_vec[1] - gravity_data.m_data.m_vec[0];
+ la_z = accel.m_data.m_vec[2] - gravity_data.m_data.m_vec[2];
+
+ sensor_data<float> lin_accel_data(la_x, la_y, la_z);
+
+ return lin_accel_data;
+}
+
+#endif
--- /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 _LINEAR_ACCELERATION_SENSOR_H_
+#define _LINEAR_ACCELERATION_SENSOR_H_
+
+#include "gravity_sensor.h"
+
+class linear_acceleration_sensor
+{
+public:
+ gravity_sensor grav_sensor;
+
+ sensor_data<float> get_linear_acceleration(const sensor_data<float> accel,
+ const sensor_data<float> gyro, const sensor_data<float> magnetic);
+};
+
+#include "linear_acceleration_sensor.cpp"
+
+#endif /* _LINEAR_ACCELERATION_SENSOR_H_ */
--- /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.
+ *
+ */
+
+#ifdef _ORIENTATION_SENSOR_H_
+
+float bias_accel[] = {0.098586, 0.18385, (10.084 - GRAVITY)};
+float bias_gyro[] = {-5.3539, 0.24325, 2.3391};
+float bias_magnetic[] = {0, 0, 0};
+int sign_accel[] = {+1, +1, +1};
+int sign_gyro[] = {+1, +1, +1};
+int sign_magnetic[] = {+1, +1, +1};
+float scale_accel = 1;
+float scale_gyro = 575;
+float scale_magnetic = 1;
+
+int pitch_phase_compensation = -1;
+int roll_phase_compensation = -1;
+int azimuth_phase_compensation = -1;
+int magnetic_alignment_factor = -1;
+
+void pre_process_data(sensor_data<float> &data_out, sensor_data<float> &data_in, float *bias, int *sign, float scale)
+{
+ data_out.m_data.m_vec[0] = sign[0] * (data_in.m_data.m_vec[0] - bias[0]) / scale;
+ data_out.m_data.m_vec[1] = sign[1] * (data_in.m_data.m_vec[1] - bias[1]) / scale;
+ data_out.m_data.m_vec[2] = sign[2] * (data_in.m_data.m_vec[2] - bias[2]) / scale;
+
+ data_out.m_time_stamp = data_in.m_time_stamp;
+}
+
+euler_angles<float> orientation_sensor::get_orientation(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);
+ normalize(accel_data);
+ pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
+ pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
+ normalize(magnetic_data);
+
+ orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
+ orien_filter.m_roll_phase_compensation = roll_phase_compensation;
+ orien_filter.m_azimuth_phase_compensation = azimuth_phase_compensation;
+ orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor;
+
+ return orien_filter.get_orientation(accel_data, gyro_data, magnetic_data);
+}
+
+rotation_matrix<float> orientation_sensor::get_rotation_matrix(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);
+ normalize(accel_data);
+ pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
+ pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
+ normalize(magnetic_data);
+
+ orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
+ orien_filter.m_roll_phase_compensation = roll_phase_compensation;
+ orien_filter.m_azimuth_phase_compensation = azimuth_phase_compensation;
+ orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor;
+
+ return orien_filter.get_rotation_matrix(accel_data, gyro_data, magnetic_data);
+}
+
+quaternion<float> orientation_sensor::get_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);
+ normalize(accel_data);
+ pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
+ pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
+ normalize(magnetic_data);
+
+ orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
+ orien_filter.m_roll_phase_compensation = roll_phase_compensation;
+ 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);
+}
+
+#endif
--- /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_SENSOR_H_
+#define _ORIENTATION_SENSOR_H_
+
+#include "../orientation_filter.h"
+
+class orientation_sensor
+{
+public:
+ orientation_filter<float> orien_filter;
+
+ euler_angles<float> get_orientation(sensor_data<float> accel,
+ 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,
+ sensor_data<float> gyro, sensor_data<float> magnetic);
+};
+
+#include "orientation_sensor.cpp"
+
+#endif /* _ORIENTATION_SENSOR_H_ */
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>euler_angles_test</name>
+ <comment></comment>
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+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
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+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
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+ </arguments>
+ </buildCommand>
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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 "../../../euler_angles.h"
+
+int main()
+{
+ float arr0[3] = {234.98, 345.24, -56.12};
+ float arr1[3] = {56, -34, 76};
+ float arr2[4] = {0.6, 0.6, -.18, -.44};
+ float arr3[4] = {-0.5, -0.36, .43, .03};
+
+ vect<float> v0(3, arr0);
+ vect<float> v1(3, arr1);
+ vect<float> v2(4, arr2);
+ vect<float> v3(4, arr3);
+
+ quaternion<float> q1(v2);
+ quaternion<float> q2(v3);
+
+ euler_angles<float> e0(v0);
+ euler_angles<float> e1(v1);
+ euler_angles<float> e2((float)234.98, (float)345.24, (float)-56.12);
+ euler_angles<float> e3(e1);
+ euler_angles<float> e4;
+
+ cout << "Constructor tests\n";
+ cout << "input\t" << v0 << "\n";
+ cout << "output\t" << e0.m_ang << "\n\n";
+ cout << "input\t" << v1 << "\n";
+ cout << "output\t" << e1.m_ang << "\n\n";
+ cout << "input\t" << v0 << "\n";
+ cout << "output\t" << e2.m_ang << "\n\n";
+ cout << "input\t" << v1 << "\n";
+ cout << "output\t" << e3.m_ang << "\n\n";
+ cout << "default constructor\n";
+ cout << "output\t" << e4.m_ang << "\n\n";
+
+ cout << "Quaternion to Euler\n";
+ euler_angles<float> e5 = quat2euler(q1);
+ cout << "input\t" << q1.m_quat << "\n";
+ cout << "output\t" << e5.m_ang << "\n\n";
+ euler_angles<float> e8 = quat2euler(q2);
+ cout << "input\t" << q2.m_quat << "\n";
+ cout << "output\t" << e8.m_ang << "\n\n";
+
+ cout << "Radians to Degrees\n";
+ euler_angles<float> e6 = deg2rad(e0);
+ cout << "input\t" << e0.m_ang << "\n";
+ cout << "output\t" << e6.m_ang << "\n\n";
+
+ cout << "Degrees to Radians\n";
+ euler_angles<float> e7 = rad2deg(e6);
+ cout << "input\t" << e6.m_ang << "\n";
+ cout << "output\t" << e7.m_ang << "\n\n";
+}
+
--- /dev/null
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--- /dev/null
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+ <comment></comment>
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+ <triggers>full,incremental,</triggers>
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+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
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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 "../../gravity_sensor.h"
+#include <stdlib.h>
+#include <iostream>
+#include <fstream>
+#include <string>
+using namespace std;
+
+#define GRAVITY_DATA_PATH "../../../design/data/100ms/gravity/throw/"
+#define GRAVITY_DATA_SIZE 135
+
+int main()
+{
+ int data_available = GRAVITY_DATA_SIZE;
+ ifstream accel_in, gyro_in, mag_in;
+ ofstream gravity_file;
+ string line_accel, line_gyro, line_magnetic;
+ float sdata[3];
+ unsigned long long time_stamp;
+ sensor_data<float> gravity;
+ gravity_sensor grav_sensor;
+
+ accel_in.open(((string)GRAVITY_DATA_PATH + (string)"accel.txt").c_str());
+ gyro_in.open(((string)GRAVITY_DATA_PATH + (string)"gyro.txt").c_str());
+ mag_in.open(((string)GRAVITY_DATA_PATH + (string)"magnetic.txt").c_str());
+
+ gravity_file.open(((string)"gravity.txt").c_str());
+
+ char *token = NULL;
+
+ while (data_available-- > 0)
+ {
+ getline(accel_in, 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_in, 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(mag_in, 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";
+
+ gravity = grav_sensor.get_gravity(accel_data, gyro_data, magnetic_data);
+
+ gravity_file << gravity.m_data;
+
+ cout << "Gravity Data\t" << gravity.m_data << "\n\n";
+ }
+
+ accel_in.close();
+ gyro_in.close();
+ mag_in.close();
+ gravity_file.close();
+
+ return 0;
+}
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>linear_acceleration_sensor_test</name>
+ <comment></comment>
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+ <value>true</value>
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+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
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+</projectDescription>
--- /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 "../../linear_acceleration_sensor.h"
+#include <stdlib.h>
+#include <iostream>
+#include <fstream>
+#include <string>
+using namespace std;
+
+#define LA_DATA_PATH "../../../design/data/100ms/linear_acceleration/move_x_y_z/"
+#define LA_DATA_SIZE 170
+
+int main()
+{
+ int data_available = LA_DATA_SIZE;
+ ifstream accel_in, gyro_in, mag_in;
+ ofstream la_file;
+ string line_accel, line_gyro, line_magnetic;
+ float sdata[3];
+ unsigned long long time_stamp;
+ sensor_data<float> lin_accel;
+ linear_acceleration_sensor la_sensor;
+
+ accel_in.open(((string)LA_DATA_PATH + (string)"accel.txt").c_str());
+ gyro_in.open(((string)LA_DATA_PATH + (string)"gyro.txt").c_str());
+ mag_in.open(((string)LA_DATA_PATH + (string)"magnetic.txt").c_str());
+
+ la_file.open(((string)"linear_acceleration.txt").c_str());
+
+ char *token = NULL;
+
+ while (data_available-- > 0)
+ {
+ getline(accel_in, 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_in, 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(mag_in, 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";
+
+ lin_accel = la_sensor.get_linear_acceleration(accel_data, gyro_data, magnetic_data);
+
+ la_file << lin_accel.m_data;
+
+ cout << "Linear Acceleration Data\t" << lin_accel.m_data << "\n\n";
+ }
+
+ accel_in.close();
+ gyro_in.close();
+ mag_in.close();
+ la_file.close();
+
+ return 0;
+}
--- /dev/null
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+ </scannerConfigBuildInfo>
+ </storageModule>
+</cproject>
--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>matrix_test</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+ <triggers>clean,full,incremental,</triggers>
+ <arguments>
+ <dictionary>
+ <key>?name?</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.append_environment</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildArguments</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildCommand</key>
+ <value>make</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildLocation</key>
+ <value>${workspace_loc:/matrix_test/Debug}</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+ <value>clean</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.contents</key>
+ <value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+ <value>false</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableFullBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.stopOnError</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>true</value>
+ </dictionary>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ <nature>org.eclipse.cdt.core.ccnature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+ <nature>org.tizen.nativecpp.apichecker.core.tizenCppNature</nature>
+ </natures>
+</projectDescription>
--- /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 "../../../matrix.h"
+
+int main()
+{
+ float arr0[2][2] = {{-2.243, 2.57},{3.56, -3.02}};
+ float arr1[2][2] = {{2.2, 2.5},{3.5, 3.0}};
+ float arr5[3][2] = {{0.22, 4.56}, {3.652, 5.86}, {1.430, 0.45}};
+ float arr11[1][3] = {{2.0, 3.0, 4.0}};
+ float arr12[3][1] = {{2.0}, {1.0}, {3.0}};
+ float arr15[2][3] = {{20.0, -40.0, 10.0}, {36.0, 52.0, -55.0}};
+ float arr3[3][3] = {{20.2, 40.5, 10.0}, {3.6, 52.0, 5.5}, {1.0, 45.5, 66.6}};
+ float arr4[3][3] = {{2.24, 0.5, 0.023}, {3.675, 5.32, 0.556}, {1.023, 45.75, 621.6}};
+ float arr8[3][3] = {{4.75, 0.65, 0.123}, {0.075, 5.302, 0.56}, {1.113, 0.475, 2.362}};
+ float arr9[3][3] = {{1, 2, 3}, {1, 2, 3}, {1, 2, 3}};
+
+ matrix<float> m1(2, 2, (float *) arr0);
+ matrix<float> m2(2, 2, (float *) arr1);
+ matrix<float> m3(2, 2);
+ matrix<float> m10(3, 3, (float *) arr3);
+ matrix<float> m11(3, 2, (float *) arr5);
+ matrix<float> m6(3, 3);
+ matrix<float> m13(3, 2);
+ matrix<float> m12(3, 3, (float *) arr4);
+ matrix<float> m15(3, 3, (float *) arr8);
+ matrix<float> m20(1, 3, (float *) arr11);
+ matrix<float> m21(3, 1, (float *) arr12);
+ matrix<float> m22(2, 3, (float *) arr15);
+ matrix<float> m9(3, 3, (float *) arr9);
+
+ cout<< "Constructor Test\n";
+ cout<< "\n" << m6;
+
+ cout<<"\n\nAddition\n";
+ m6 = m10 + m15;
+ m13 = m11 + m11;
+ cout<< "\n" << m10 <<"\n"<< m15;
+ cout<< "\nSum:\n" << m6 << endl;
+ cout<< "\n" << m11 << "\n"<< m11;
+ cout<< "\nSum:\n" << m13 << endl;
+
+ cout<< "\n\n\nSubtraction\n";
+ m6 = m10 - m12;
+ cout<< "\n" << m10 << "\n" << m12;
+ cout<< "\nDifference:\n" << m6 << endl;
+
+ cout<< "\n\n\nMultiplication\n";
+ m6 = m10 * m12;
+ m3 = m1 * m2;
+ matrix<float> m7(m20.m_rows, m21.m_cols);
+ m7 = m20 * m21;
+ cout<< "\n" << m10 << "\n" << m12;
+ cout<< "\nProduct:\n" << m6 << endl;
+ cout<< "\n" << m1 << "\n" << m2;
+ cout<< "\nProduct:\n" << m3 << endl;
+ cout<< "\n" << m20 << "\n" << m21;
+ cout<< "\nProduct:\n" << m7 << endl;
+ cout<< "\n" << m9 << "\n" << m21;
+ m21 = mul(m9, m21);
+ cout<< "\nProduct:\n" << m21 << endl;
+
+ cout<< "\n\n\nDivision\n";
+ m3 = m1 / (float)2.5;
+ cout<< "\n" << m1 << "\n" << "2.5";
+ cout<< "\nResult:\n" << m3 << endl;
+ m6 = m12 / (float)0.125;
+ cout<< "\n" << m12 << "\n" << ".125";
+ cout<< "\nResult:\n" << m6 << endl;
+
+ float num = 5.5650;
+ float num1 = -2.32;
+ cout<< "\n\n\nScalar addition\n";
+ m3 = m2 + num;
+ m6 = m10 + num1;
+ cout<< "\nNumber added:" << num;
+ cout<< "\n\n" << m2;
+ cout<< "\nResult:\n\n" << m3;
+ cout<< "\nNumber added:" << num1;
+ cout<< "\n\n" << m10;
+ cout<< "\nResult:\n\n" << m6;
+
+ float x = 4.0;
+ float x1 = -2.5;
+ cout<< "\n\n\nScalar subtraction\n";
+ m13 = m11 - x;
+ m6 = m10 - x1;
+ cout<< "\nNumber Subtracted:" << x;
+ cout<< "\n\n" << m11;
+ cout<< "\nResult:\n\n" << m13;
+ cout<< "\nNumber Subtracted:" << x1;
+ cout<< "\n\n" << m10;
+ cout<< "\nResult:\n\n" << m6;
+
+ float z = 3.50;
+ float z1 = -5.567;
+ cout<< "\n\n\nScalar multiplication\n";
+ m3 = m1 * z;
+ m6 = m12 * z1;
+ cout<< "\nNumber Multiplied:"<< z;
+ cout<< "\n\n" << m1;
+ cout<< "\nResult:\n\n" << m3;
+ cout<< "\nNumber Multiplied:" << z1;
+ cout<< "\n\n" << m12;
+ cout<< "\nResult:\n\n" << m6;
+
+ m6 = tran(m15);
+ cout<< "\n\n\nTranspose:";
+ cout << "\n\n" << m15;
+ cout << "\nResult:\n\n" << m6;
+
+ cout << "\n\nm1:\n\n" << m1;
+ cout << "\n\nm2:\n\n" << m2;
+ cout << "\n\n\nm1 == m2 :";
+ cout << (m1 == m2);
+
+ cout << "\n\nm2:\n\n" << m2;
+ cout << "\n\nm2:\n\n" << m2;
+ cout << "\n\n\nm2 == m2 :";
+ cout << (m2 == m2);
+
+ cout << "\n\nm6:\n\n" << m6;
+ cout << "\n\nm6:\n\n" << m6;
+ cout << "\n\n\nm6 != m6 :";
+ cout << (m6 != m6);
+
+ cout << "\n\nm6:\n\n" << m6;
+ cout << "\n\nm1:\n\n" << m1;
+ cout << "\n\n\nm6 != m1 :";
+ cout << (m6 != m1);
+
+
+ cout<< "\n\nAssignment\n";
+ m3 = m12;
+ cout<< "Input \n" << m12;
+ cout<< "\nOutput:\n" << m3 << endl;
+
+}
--- /dev/null
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--- /dev/null
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+ <value>all</value>
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+ <value>true</value>
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+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>true</value>
+ </dictionary>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
+ <arguments>
+ </arguments>
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+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
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+ <nature>org.tizen.nativecpp.apichecker.core.tizenCppNature</nature>
+ </natures>
+</projectDescription>
--- /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 1095
+
+float bias_accel[] = {0.098586, 0.18385, (10.084 - GRAVITY)};
+float bias_gyro[] = {-5.3539, 0.24325, 2.3391};
+float bias_magnetic[] = {0, 0, 0};
+int sign_accel[] = {+1, +1, +1};
+int sign_gyro[] = {+1, +1, +1};
+int sign_magnetic[] = {+1, +1, +1};
+float scale_accel = 1;
+float scale_gyro = 575;
+float scale_magnetic = 1;
+
+int pitch_phase_compensation = -1;
+int roll_phase_compensation = -1;
+int azimuth_phase_compensation = -1;
+int magnetic_alignment_factor = -1;
+
+void pre_process_data(sensor_data<float> &data_out, sensor_data<float> &data_in, float *bias, int *sign, float scale)
+{
+ data_out.m_data.m_vec[0] = sign[0] * (data_in.m_data.m_vec[0] - bias[0]) / scale;
+ data_out.m_data.m_vec[1] = sign[1] * (data_in.m_data.m_vec[1] - bias[1]) / scale;
+ data_out.m_data.m_vec[2] = sign[2] * (data_in.m_data.m_vec[2] - bias[2]) / scale;
+
+ data_out.m_time_stamp = data_in.m_time_stamp;
+}
+
+int main()
+{
+ int data_available = ORIENTATION_DATA_SIZE;
+ ifstream accel_in, gyro_in, mag_in;
+ ofstream orien_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_in.open(((string)ORIENTATION_DATA_PATH + (string)"accel.txt").c_str());
+ gyro_in.open(((string)ORIENTATION_DATA_PATH + (string)"gyro.txt").c_str());
+ mag_in.open(((string)ORIENTATION_DATA_PATH + (string)"magnetic.txt").c_str());
+
+ orien_file.open(((string)"orientation.txt").c_str());
+
+ char *token = NULL;
+
+ while (data_available-- > 0)
+ {
+ getline(accel_in, 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);
+
+ getline(gyro_in, 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);
+
+ getline(mag_in, 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);
+
+ pre_process_data(accel_data, accel_data, bias_accel, sign_accel, scale_accel);
+ normalize(accel_data);
+ pre_process_data(gyro_data, gyro_data, bias_gyro, sign_gyro, scale_gyro);
+ pre_process_data(magnetic_data, magnetic_data, bias_magnetic, sign_magnetic, scale_magnetic);
+ normalize(magnetic_data);
+
+ cout << "Accel Data\t" << accel_data.m_data << "\t Time Stamp\t" << accel_data.m_time_stamp << "\n\n";
+ cout << "Gyro Data\t" << gyro_data.m_data << "\t Time Stamp\t" << gyro_data.m_time_stamp << "\n\n";
+ cout << "Magnetic Data\t" << magnetic_data.m_data << "\t Time Stamp\t" << magnetic_data.m_time_stamp << "\n\n";
+
+ orien_filter.m_pitch_phase_compensation = pitch_phase_compensation;
+ orien_filter.m_roll_phase_compensation = roll_phase_compensation;
+ orien_filter.m_azimuth_phase_compensation = azimuth_phase_compensation;
+ orien_filter.m_magnetic_alignment_factor = magnetic_alignment_factor;
+
+ orientation = orien_filter.get_orientation(accel_data, gyro_data, magnetic_data);
+
+ orien_file << orientation.m_ang;
+
+ cout << "Orientation Data\t" << orientation.m_ang << "\n\n";
+ }
+
+ accel_in.close();
+ gyro_in.close();
+ mag_in.close();
+ orien_file.close();
+
+ return 0;
+}
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>orientation_sensor_test</name>
+ <comment></comment>
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+ <key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableFullBuild</key>
+ <value>true</value>
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+ <dictionary>
+ <key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+ <value>all</value>
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+ <key>org.eclipse.cdt.make.core.stopOnError</key>
+ <value>true</value>
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+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>true</value>
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+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <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_sensor.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 1095
+
+int main()
+{
+ int data_available = ORIENTATION_DATA_SIZE;
+ ifstream accel_in, gyro_in, mag_in;
+ ofstream orien_file;
+ string line_accel, line_gyro, line_magnetic;
+ float sdata[3];
+ unsigned long long time_stamp;
+ euler_angles<float> orientation;
+ rotation_matrix<float> orientation_mat;
+ quaternion<float> orientation_quat;
+ orientation_sensor orien_sensor1, orien_sensor2, orien_sensor3;
+
+ accel_in.open(((string)ORIENTATION_DATA_PATH + (string)"accel.txt").c_str());
+ gyro_in.open(((string)ORIENTATION_DATA_PATH + (string)"gyro.txt").c_str());
+ mag_in.open(((string)ORIENTATION_DATA_PATH + (string)"magnetic.txt").c_str());
+
+ orien_file.open(((string)"orientation.txt").c_str());
+
+ char *token = NULL;
+
+ while (data_available-- > 0)
+ {
+ getline(accel_in, 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_in, 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(mag_in, 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_sensor1.get_orientation(accel_data, gyro_data, magnetic_data);
+
+ orien_file << orientation.m_ang;
+
+ cout << "Orientation angles\t" << orientation.m_ang << "\n\n";
+
+ orientation_mat = orien_sensor2.get_rotation_matrix(accel_data, gyro_data, magnetic_data);
+
+ cout << "Orientation matrix\t" << orientation_mat.m_rot_mat << "\n\n";
+
+ orientation_quat = orien_sensor3.get_quaternion(accel_data, gyro_data, magnetic_data);
+
+ cout << "Orientation quaternion\t" << orientation_quat.m_quat << "\n\n";
+ }
+
+ accel_in.close();
+ gyro_in.close();
+ mag_in.close();
+ orien_file.close();
+
+ return 0;
+}
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>quaternion_test</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+ <triggers>clean,full,incremental,</triggers>
+ <arguments>
+ <dictionary>
+ <key>?name?</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.append_environment</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.autoBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildArguments</key>
+ <value></value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildCommand</key>
+ <value>make</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildLocation</key>
+ <value>${workspace_loc:/quaternion_test/Debug}</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.cleanBuildTarget</key>
+ <value>clean</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.contents</key>
+ <value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+ <value>false</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableFullBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.stopOnError</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>true</value>
+ </dictionary>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ <nature>org.eclipse.cdt.core.ccnature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+ <nature>org.tizen.nativecpp.apichecker.core.tizenCppNature</nature>
+ </natures>
+</projectDescription>
--- /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 "../../../quaternion.h"
+
+int main()
+{
+ float arr0[4] = {2344.98, 345.24, 456.12, 98.33};
+ float arr1[4] = {0.056, 0.34, -0.0076, 0.001};
+
+ vect<float> v0(4, arr0);
+ vect<float> v1(4, arr1);
+
+ quaternion<float> q0(v0);
+ quaternion<float> q1(v1);
+ quaternion<float> q2((float)2344.98, (float)345.24, (float)456.12, (float)98.33);
+ quaternion<float> q3(q1);
+ quaternion<float> q4;
+
+ cout << "Constructor tests\n";
+ cout << "input\t" << v0 << "\n";
+ cout << "output\t" << q0.m_quat << "\n\n";
+ cout << "input\t" << v1 << "\n";
+ cout << "output\t" << q1.m_quat << "\n\n";
+ cout << "input\t" << v0 << "\n";
+ cout << "output\t" << q2.m_quat << "\n\n";
+ cout << "input\t" << v1 << "\n";
+ cout << "output\t" << q3.m_quat << "\n\n";
+ cout << "default constructor\n";
+ cout << "output\t" << q4.m_quat << "\n\n";
+
+ cout << "Multiplication\n";
+ float val = 0.1;
+ quaternion<float> q5 = q0 * val;
+ cout << "input\t" << q0.m_quat << "\n" << 0.1 << "\n";
+ cout << "output\t" << q5.m_quat << "\n\n";
+ quaternion<float> q6 = q0 * q1;
+ cout << "input\t" << q0.m_quat << "\n" << q1.m_quat << "\n";
+ cout << "output\t" << q6.m_quat << "\n\n";
+
+ cout << "Addition\n";
+ quaternion<float> q7 = q0 + q1;
+ cout << "input\t" << q0.m_quat << "\n" << q1.m_quat << "\n";
+ cout << "output\t" << q7.m_quat << "\n\n";
+
+ cout << "Quaternion Normalization\n";
+ cout << "input\t" << q1.m_quat << "\n";
+ q1.quat_normalize();
+ cout << "output\t" << q1.m_quat << "\n\n";
+}
+
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
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+ <name>rotation_matrix_test</name>
+ <comment></comment>
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+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
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+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
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+ </arguments>
+ </buildCommand>
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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 "../../../rotation_matrix.h"
+
+int main()
+{
+ float arr1[3][3] = {{20.2, 40.5, 10.0}, {3.6, 52.0, 5.5}, {1.0, 45.5, 66.6}};
+ float arr2[3][3] = {{2.24, 0.5, 0.023}, {3.675, 5.32, 0.556}, {1.023, 45.75, 621.6}};
+ float arr3[3][3] = {{4.75, 0.65, 0.123}, {0.075, 5.302, 0.56}, {1.113, 0.475, 2.362}};
+
+ matrix<float> m1(3, 3, (float *) arr1);
+ matrix<float> m2(3, 3, (float *) arr2);
+ matrix<float> m3(3, 3, (float *) arr3);
+
+ rotation_matrix<float> rm0, rm5;
+ rotation_matrix<float> rm1(m1);
+ rotation_matrix<float> rm2(m2);
+ rotation_matrix<float> rm3(m3);
+ rotation_matrix<float> rm4(3, 3, (float *) arr1);
+
+ quaternion<float> q0(-0.612372, 0.456436, 0.456436, 0.456436);
+ quaternion<float> q1;
+
+ cout << "Constructor tests\n";
+ cout << "input\n" << m1 << "\n";
+ cout << "output\n" << rm1.m_rot_mat << "\n\n";
+ cout << "input\n" << m2 << "\n";
+ cout << "output\n" << rm2.m_rot_mat << "\n\n";
+ cout << "input\n" << m3 << "\n";
+ cout << "output\n" << rm3.m_rot_mat << "\n\n";
+ cout << "input\n" << m1 << "\n";
+ cout << "output\n" << rm4.m_rot_mat << "\n\n";
+ cout << "default constructor\n";
+ cout << "output\n" << rm0.m_rot_mat << "\n\n";
+
+ cout << "Quaternion to Rotation Matrix\n";
+ cout << "input\n" << q0.m_quat << "\n";
+ rm0 = quat2rot_mat(q0);
+ cout << "output\n" << rm0.m_rot_mat << "\n\n";
+
+ cout << "Rotation Matrix to Quaternion\n";
+ cout << "input\n" << rm0.m_rot_mat << "\n";
+ q1 = rot_mat2quat(rm0);
+ cout << "output\n" << q1.m_quat << "\n\n";
+}
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>sensor_data_test</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+ <triggers>clean,full,incremental,</triggers>
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+ <dictionary>
+ <key>?name?</key>
+ <value></value>
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+ <value>true</value>
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+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildArguments</key>
+ <value></value>
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+ <value>make</value>
+ </dictionary>
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+ <key>org.eclipse.cdt.make.core.buildLocation</key>
+ <value>${workspace_loc:/sensor_data_test/Debug}</value>
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+ <value>clean</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.contents</key>
+ <value>org.eclipse.cdt.make.core.activeConfigSettings</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableAutoBuild</key>
+ <value>false</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableCleanBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.enableFullBuild</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.fullBuildTarget</key>
+ <value>all</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.stopOnError</key>
+ <value>true</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>true</value>
+ </dictionary>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ <buildCommand>
+ <name>org.tizen.nativecpp.apichecker.core.builder</name>
+ <arguments>
+ </arguments>
+ </buildCommand>
+ </buildSpec>
+ <natures>
+ <nature>org.eclipse.cdt.core.cnature</nature>
+ <nature>org.eclipse.cdt.core.ccnature</nature>
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+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+ <nature>org.tizen.nativecpp.apichecker.core.tizenCppNature</nature>
+ </natures>
+</projectDescription>
--- /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 "../../../sensor_data.h"
+
+int main()
+{
+ float arr1[3] = {1.04, -4.678, -2.34};
+
+ vect<float> v1(3, arr1);
+
+ sensor_data<float> sd1(2.0, 3.0, 4.0, 140737488355328);
+ sensor_data<float> sd2(1.04, -4.678, -2.34);
+ sensor_data<float> sd3(0.054, 1.097, 4.456, 140737488355328);
+ sensor_data<float> sd10(v1, 140737488355328);
+
+ cout << "Constructor tests\n";
+ cout << "input\t" << v1 << "\n";
+ cout << "output\t" << sd10.m_data << "\t" << sd10.m_time_stamp << "\n\n";
+ cout << "input\t" << v1 << "\n";
+ cout << "output\t" << sd2.m_data << "\t" << sd2.m_time_stamp << "\n\n";
+
+ cout<< "Addition:\n";
+ sensor_data<float> sd4 = sd1 + sd2;
+ cout<< "\n" << sd1.m_data << "\n" << sd2.m_data;
+ cout<< "\nSum:\n" << sd4.m_data << endl;
+ sensor_data<float> sd9 = sd1 + sd10;
+ cout<< "\n" << sd1.m_data << "\n" << sd10.m_data;
+ cout<< "\nSum:\n" << sd9.m_data << endl;
+
+ cout<< "\n\n\nNormalization:\n";
+ cout<< "\n" << sd3.m_data;
+ normalize(sd3);
+ cout<< "\nResult:\n" << sd3.m_data << endl;
+ cout<< "\n" << sd2.m_data;
+ normalize(sd2);
+ cout<< "\nResult:\n" << sd2.m_data << endl;
+
+ float xx = 2.5;
+ cout<<"\n\n\nScale data:\n";
+ sensor_data<float> sd8 = scale_data(sd2, xx);
+ cout<< "\n" << sd2.m_data << "\n" << xx;
+ cout<< "\nResult:\n" << sd8.m_data << endl;
+}
+
--- /dev/null
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--- /dev/null
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+ <name>vector_test</name>
+ <comment></comment>
+ <projects>
+ </projects>
+ <buildSpec>
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+ <value></value>
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+ <value>true</value>
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+ <value></value>
+ </dictionary>
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+ <key>org.eclipse.cdt.make.core.buildCommand</key>
+ <value>make</value>
+ </dictionary>
+ <dictionary>
+ <key>org.eclipse.cdt.make.core.buildLocation</key>
+ <value>${workspace_loc:/vector_test/Debug}</value>
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+ <value>clean</value>
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+ <value>true</value>
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+ <value>all</value>
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+ <value>true</value>
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+ <key>org.eclipse.cdt.make.core.useDefaultBuildCmd</key>
+ <value>true</value>
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+ <buildCommand>
+ <name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+ <triggers>full,incremental,</triggers>
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+ </arguments>
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+ <nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
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+</projectDescription>
--- /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 "../../../vector.h"
+
+int main()
+{
+ float arr2[3] = {0.056,2.34,-65.76};
+ float arr15[3] = {1.04,-4.678,-2.34};
+ float arr3[4] = {1.03,2.345,6.78,5.55};
+ float arr4[4] = {-6.78,-45.213,-7.89,-3.456};
+ float arr8[5] = {0.0123,5.678,2.345,0.345,8.956};
+ float arr0[5] = {2344.98,345.24,456.12,98.33,144.67};
+ float arr1[6] = {1.234,4.5,6.8987,3.33,5.66,77.695};
+ float arr43[6] = {2.3454,-0.0384,-8.90,3.455,6.785,21.345};
+ float arr5[5] = {0.2,-0.4,0.6,-0.8,1.0};
+
+ vect<float> v1(5, arr0);
+ vect<float> v2(5, arr8);
+ vect<float> v10(4, arr3);
+ vect<float> v12(4, arr4);
+ vect<float> v15(6, arr1);
+ vect<float> v20(6, arr43);
+ vect<float> v21(3, arr2);
+ vect<float> v22(3, arr15);
+ vect<float> v3(4);
+ vect<float> v6(3);
+ vect<float> v13(5);
+ vect<float> v95(6);
+ vect<float> v35(5, arr5);
+
+ float arr57[3][3] = {{2.24, 0.5, 0.023}, {3.675, 5.32, 0.556}, {1.023, 45.75, 621.6}};
+ matrix<float> m12(3, 3, (float *) arr57);
+ float arr67[3][1] = {{2.0}, {3.0}, {4.0}};
+ matrix<float> m32(3, 1, (float *) arr67);
+
+ cout<< "Constructor Test\n";
+ cout<< "\n" << v3;
+
+ cout<< "\n\nAddition\n";
+ v3 = v21 + v22;
+ v95 = v15 + v20;
+ cout<< "\n" << v21 << "\n" << v22;
+ cout<< "\nSum:\n" << v3 << endl;
+ cout<< "\n" << v15 << "\n" << v20;
+ cout<< "\nSum:\n" << v95 << endl;
+
+ float num = 5.5650;
+ float num1 = -2.32;
+ cout<< "\n\n\nScalar addition\n";
+ v3 = v2 + num;
+ v6 = v10 + num1;
+ cout<< "\nNumber added:" << num;
+ cout<< "\n\n" << v2;
+ cout<< "\nResult:\n\n" << v3;
+ cout<< "\nNumber added:"<< num1;
+ cout<< "\n\n" << v10;
+ cout<< "\nResult:\n\n"<< v6;
+
+ cout<< "\n\n\nSubtraction\n";
+ v6 = v10 - v12;
+ cout<< "\n" << v10 << "\n" << v12;
+ cout<< "\nDifference:\n" << v6 << endl;
+
+ float x = 4.0;
+ float x1 = -2.5;
+ cout<< "\n\n\nScalar subtraction\n";
+ v13 = v1 - x;
+ v6 = v10 - x1;
+ cout<< "\nNumber Subtracted:" << x;
+ cout<< "\n\n" << v1;
+ cout<< "\nResult:\n\n" << v13;
+ cout<< "\nNumber Subtracted:" << x1;
+ cout<< "\n\n" << v10;
+ cout<< "\nResult:\n\n" << v6;
+
+ float xx = 7.2;
+ cout<<"\n\n\nMultiplication\n";
+ v13 = v2 * xx;
+ cout<< "\n" << v2 <<"\n"<< xx;
+ cout<< "\nProduct:\n" << v13 << endl;
+
+ cout<< "\n\n\nMultiplication matrix x vector:\n";
+ matrix<float> m102 = m32 * v22;
+ cout<< "\n" << m32 <<"\n"<< v22;
+ cout<< "\nProduct:\n"<< m102 << endl;
+
+ cout<< "\n\n\nVector x Multiplication matrix:\n";
+ vect<float> v102 = (v22 * m12);
+ cout<< "\n" << v22 << "\n" << m12;
+ cout<< "\nProduct:\n" << v102 << endl;
+ float val = mul(v22, m32);
+ cout<< "\n" << v22 << "\n" << m32;
+ cout<< "\nProduct:\n" << val << endl;
+
+ float z = 3.50;
+ float z1 = -5.567;
+ cout<< "\n\n\nScalar multiplication\n";
+ v13 = v1 * z;
+ v6 = v12 * z1;
+ cout<< "\nNumber Multiplied:" << z;
+ cout<< "\n\n" << v1;
+ cout<< "\nResult:\n\n" << v13;
+ cout<< "\nNumber Multiplied:" << z1;
+ cout<< "\n\n" << v12;
+ cout<< "\nResult:\n\n" << v6;
+
+ float num2 = 5.5;
+ cout<< "\n\n\nDivision\n";
+ v3 = v1 / num2;
+ cout<< "\n" << v1 << "\n" << num2;
+ cout<< "\nResult:\n" << v3 << endl;
+
+ cout<< "\n\n\nTranspose:";
+ cout << "\n\n" << v20;
+ cout << "\nResult:\n\n";
+ matrix<float> m101 = (transpose(v20));
+ cout << m101;
+ cout << "\n\n" << m101;
+ cout << "\nResult:\n\n";
+ v20 = (transpose(m101));
+ cout << v20;
+
+ cout << "\n\nv1:\n\n" << v1;
+ cout << "\n\nv2:\n\n" << v2;
+ cout << "\n\n\nv1 == v2 :";
+ cout << (v1 == v2);
+
+ cout << "\n\nv10:\n\n" << v10;
+ cout << "\n\nv10:\n\n" << v10;
+ cout << "\n\n\nv10 == v10 :";
+ cout << (v10 == v10);
+
+ cout << "\n\nv12:\n\n" << v12;
+ cout << "\n\nv15:\n\n" << v15;
+ cout << "\n\n\nv12 != v15 :";
+ cout << (v12 != v15);
+
+ cout << "\n\nv15:\n\n" << v15;
+ cout << "\n\nv15:\n\n" << v15;
+ cout << "\n\n\nv15 != v15 :";
+ cout << (v15 != v15);
+
+ cout<< "\n\nAssignment\n";
+ v3 = v1;
+ cout<< "Input \n" << v1;
+ cout<< "\nOutput:\n" << v3 << endl;
+
+
+ vect<float> v111 = cross(v21, v22);
+ cout<< "\n\n\nCross Product:";
+ cout << "\n\n" << v21 << "\n\n" << v22;
+ cout << "\nResult:\n\n" << v111;
+
+ cout << "\n\n\nQueue insert function:";
+ cout << "\nInput:\n\n" << v111;
+ insert_end(v111, (float) 0.9191919);
+ cout << "\nResult:\n\n" << v111;
+
+ cout << "\n\n\nVariance:";
+ cout << "\nInput:\n\n" << v35;
+ val = var(v35);
+ cout << "\nResult:\n\n" << val;
+
+ cout << "\n\n\nIs Initialized:";
+ cout << "\nInput:\n\n" << v35;
+ cout << "\nResult:\n\n" << is_initialized(v35);
+}
+
projects / platform / core / system / sensord.git / commitdiff