Adding compute_gravity class and implementation

 - Adding class definition and implementation of compute_gravity class
 - Adding testing code for compute_gravity class

signed-off-by: Ramasamy <ram.kannan@samsung.com>
Change-Id: I4150961ddef0f6a7a9c10a369e0355b9615a9e58

diff --git a/src/sensor_fusion/standalone/util/compute_gravity.cpp b/src/sensor_fusion/standalone/util/compute_gravity.cpp
new file mode 100644 (file)
index 0000000..3cf6e19
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/compute_gravity.cpp
@@ -0,0 +1,57 @@
+/*
+ * 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 _COMPUTE_GRAVITY_H
+
+#include "compute_gravity.h"
+
+#define GRAVITY                9.80665
+
+template <typename TYPE>
+compute_gravity<TYPE>::compute_gravity()
+{
+
+}
+
+template <typename TYPE>
+compute_gravity<TYPE>::~compute_gravity()
+{
+
+}
+
+template <typename TYPE>
+sensor_data<TYPE> compute_gravity<TYPE>::orientation2gravity(const sensor_data<TYPE> accel,
+               const sensor_data<TYPE> gyro, const sensor_data<TYPE> magnetic)
+{
+       orientation_filter<TYPE> orien_filter;
+       euler_angles<TYPE> orientation;
+       sensor_data<TYPE> gravity;
+
+       orientation = orien_filter.get_orientation(accel, gyro, magnetic);
+
+       gravity.m_data.m_vec[0] = GRAVITY * sin(orien_filter.m_orientation.m_ang.m_vec[0]);
+       gravity.m_data.m_vec[1] = GRAVITY * sin(orien_filter.m_orientation.m_ang.m_vec[1]);
+       gravity.m_data.m_vec[2] = GRAVITY * cos(orien_filter.m_orientation.m_ang.m_vec[0]) *
+                                                                       cos(orien_filter.m_orientation.m_ang.m_vec[1]);
+
+       return gravity;
+}
+
+#endif

diff --git a/src/sensor_fusion/standalone/util/compute_gravity.h b/src/sensor_fusion/standalone/util/compute_gravity.h
new file mode 100644 (file)
index 0000000..745eb5c
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/compute_gravity.h
@@ -0,0 +1,39 @@
+/*
+ * 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 _COMPUTE_GRAVITY_H
+#define _COMPUTE_GRAVITY_H
+
+#include "orientation_filter.h"
+
+template <typename TYPE>
+class compute_gravity {
+public:
+       orientation_filter<TYPE> estimate_orientation;
+
+       compute_gravity();
+       ~compute_gravity();
+
+       sensor_data<TYPE> orientation2gravity(const sensor_data<TYPE> accel,
+                       const sensor_data<TYPE> gyro, const sensor_data<TYPE> magnetic);
+};
+
+#include "compute_gravity.cpp"
+
+#endif /* _COMPUTE_GRAVITY_H */

diff --git a/src/sensor_fusion/standalone/util/test/compute_gravity_test/.cproject b/src/sensor_fusion/standalone/util/test/compute_gravity_test/.cproject
new file mode 100644 (file)
index 0000000..88e1d8a
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/compute_gravity_test/.cproject
@@ -0,0 +1,112 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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diff --git a/src/sensor_fusion/standalone/util/test/compute_gravity_test/.project b/src/sensor_fusion/standalone/util/test/compute_gravity_test/.project
new file mode 100644 (file)
index 0000000..79f09e9
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/compute_gravity_test/.project
@@ -0,0 +1,89 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+       <name>compute_gravity_test</name>
+       <comment></comment>
+       <projects>
+       </projects>
+       <buildSpec>
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+                                       <value>${workspace_loc:/compute_gravity_test/Debug}</value>
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diff --git a/src/sensor_fusion/standalone/util/test/compute_gravity_test/compute_gravity_main.cpp b/src/sensor_fusion/standalone/util/test/compute_gravity_test/compute_gravity_main.cpp
new file mode 100644 (file)
index 0000000..bd56100
--- /dev/null
+++ b/src/sensor_fusion/standalone/util/test/compute_gravity_test/compute_gravity_main.cpp
@@ -0,0 +1,92 @@
+/*
+ * 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 "../../compute_gravity.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;
+       compute_gravity<float> comp_grav;
+
+       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 = comp_grav.orientation2gravity(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;
+}
+