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Improved a few names

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This commit is contained in:
Alexander Pacha
2016-09-18 22:30:26 +02:00
parent 4c9c7cc214
commit 1935cd06b2
7 changed files with 37 additions and 38 deletions
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6
app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/AccelerometerCompassProvider.java
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@@ -24,9 +24,9 @@ public class AccelerometerCompassProvider extends OrientationProvider {
final private float[] accelerometerValues = new float[3];
/**
* Temporary variable to save allocations
* Inclination values
*/
final float[] tmpFloat = new float[16];
final float[] inclinationValues = new float[16];
/**
* Initialises a new AccelerometerCompassProvider
@@ -54,7 +54,7 @@ public class AccelerometerCompassProvider extends OrientationProvider {
if (magnitudeValues != null && accelerometerValues != null) {
// Fuse accelerometer with compass
SensorManager.getRotationMatrix(currentOrientationRotationMatrix.matrix, tmpFloat, accelerometerValues,
SensorManager.getRotationMatrix(currentOrientationRotationMatrix.matrix, inclinationValues, accelerometerValues,
magnitudeValues);
// Transform rotation matrix to quaternion
currentOrientationQuaternion.setRowMajor(currentOrientationRotationMatrix.matrix);

14
app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/CalibratedGyroscopeProvider.java
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@@ -57,7 +57,7 @@ public class CalibratedGyroscopeProvider extends OrientationProvider {
/**
* Temporary variable to save allocations.
*/
private Quaternion correctedQuat = new Quaternion();
private Quaternion correctedQuaternion = new Quaternion();
/**
* Initialises a new CalibratedGyroscopeProvider
@@ -78,7 +78,7 @@ public class CalibratedGyroscopeProvider extends OrientationProvider {
// that we received the proper event
if (event.sensor.getType() == Sensor.TYPE_GYROSCOPE) {
// This timestep's delta rotation to be multiplied by the current rotation
// This timestamps delta rotation to be multiplied by the current rotation
// after computing it from the gyro sample data.
if (timestamp != 0) {
final float dT = (event.timestamp - timestamp) * NS2S;
@@ -110,20 +110,20 @@ public class CalibratedGyroscopeProvider extends OrientationProvider {
deltaQuaternion.setW(-(float) cosThetaOverTwo);
// Matrix rendering in CubeRenderer does not seem to have this problem.
synchronized (syncToken) {
synchronized (synchronizationToken) {
// Move current gyro orientation if gyroscope should be used
deltaQuaternion.multiplyByQuat(currentOrientationQuaternion, currentOrientationQuaternion);
}
correctedQuat.set(currentOrientationQuaternion);
correctedQuaternion.set(currentOrientationQuaternion);
// We inverted w in the deltaQuaternion, because currentOrientationQuaternion required it.
// Before converting it back to matrix representation, we need to revert this process
correctedQuat.w(-correctedQuat.w());
correctedQuaternion.w(-correctedQuaternion.w());
synchronized (syncToken) {
synchronized (synchronizationToken) {
// Set the rotation matrix as well to have both representations
SensorManager.getRotationMatrixFromVector(currentOrientationRotationMatrix.matrix,
correctedQuat.array());
correctedQuaternion.array());
}
}
timestamp = event.timestamp;

6
app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/GravityCompassProvider.java
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@@ -24,9 +24,9 @@ public class GravityCompassProvider extends OrientationProvider {
final private float[] gravityValues = new float[3];
/**
* Temporary variable to save some allocations
* Inclination values
*/
float[] tmpFloat = new float[16];
float[] inclinationValues = new float[16];
/**
* Initialises a new GravityCompassProvider
@@ -54,7 +54,7 @@ public class GravityCompassProvider extends OrientationProvider {
if (magnitudeValues != null && gravityValues != null) {
// Fuse gravity-sensor (virtual sensor) with compass
SensorManager.getRotationMatrix(currentOrientationRotationMatrix.matrix, tmpFloat, gravityValues, magnitudeValues);
SensorManager.getRotationMatrix(currentOrientationRotationMatrix.matrix, inclinationValues, gravityValues, magnitudeValues);
// Transform rotation matrix to quaternion
currentOrientationQuaternion.setRowMajor(currentOrientationRotationMatrix.matrix);
}

16
app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/ImprovedOrientationSensor1Provider.java
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@@ -129,9 +129,9 @@ public class ImprovedOrientationSensor1Provider extends OrientationProvider {
/**
* Some temporary variables to save allocations
*/
final private float[] tmpFloat = new float[4];
final private float[] temporaryQuaternion = new float[4];
final private Quaternion correctedQuaternion = new Quaternion();
final private Quaternion interpolateQuaternion = new Quaternion();
final private Quaternion interpolatedQuaternion = new Quaternion();
/**
* Initialises a new ImprovedOrientationSensor1Provider
@@ -152,10 +152,10 @@ public class ImprovedOrientationSensor1Provider extends OrientationProvider {
if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR) {
// Process rotation vector (just safe it)
// Calculate angle. Starting with API_18, Android will provide this value as event.values[3], but if not, we have to calculate it manually.
SensorManager.getQuaternionFromVector(tmpFloat, event.values);
SensorManager.getQuaternionFromVector(temporaryQuaternion, event.values);
// Store in quaternion
quaternionRotationVector.setXYZW(tmpFloat[1], tmpFloat[2], tmpFloat[3], -tmpFloat[0]);
quaternionRotationVector.setXYZW(temporaryQuaternion[1], temporaryQuaternion[2], temporaryQuaternion[3], -temporaryQuaternion[0]);
if (!positionInitialised) {
// Override
quaternionGyroscope.set(quaternionRotationVector);
@@ -218,12 +218,12 @@ public class ImprovedOrientationSensor1Provider extends OrientationProvider {
// Interpolate with a fixed weight between the two absolute quaternions obtained from gyro and rotation vector sensors
// The weight should be quite low, so the rotation vector corrects the gyro only slowly, and the output keeps responsive.
quaternionGyroscope.slerp(quaternionRotationVector, interpolateQuaternion, DIRECT_INTERPOLATION_WEIGHT);
quaternionGyroscope.slerp(quaternionRotationVector, interpolatedQuaternion, DIRECT_INTERPOLATION_WEIGHT);
// Use the interpolated value between gyro and rotationVector
setOrientationQuaternionAndMatrix(interpolateQuaternion);
setOrientationQuaternionAndMatrix(interpolatedQuaternion);
// Override current gyroscope-orientation
quaternionGyroscope.copyVec4(interpolateQuaternion);
quaternionGyroscope.copyVec4(interpolatedQuaternion);
// Reset the panic counter because both sensors are saying the same again
panicCounter = 0;
@@ -266,7 +266,7 @@ public class ImprovedOrientationSensor1Provider extends OrientationProvider {
// Before converting it back to matrix representation, we need to revert this process
correctedQuaternion.w(-correctedQuaternion.w());
synchronized (syncToken) {
synchronized (synchronizationToken) {
// Use gyro only
currentOrientationQuaternion.copyVec4(quaternion);

16
app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/ImprovedOrientationSensor2Provider.java
View File

@@ -129,9 +129,9 @@ public class ImprovedOrientationSensor2Provider extends OrientationProvider {
/**
* Some temporary variable to save allocations.
*/
final private float[] temporaryQuaternion = new float[4];
final private Quaternion correctedQuaternion = new Quaternion();
final private Quaternion interpolateQuaternion = new Quaternion();
final private float[] tmpFloat = new float[4];
final private Quaternion interpolatedQuaternion = new Quaternion();
/**
* Initialises a new ImprovedOrientationSensor2Provider
@@ -152,10 +152,10 @@ public class ImprovedOrientationSensor2Provider extends OrientationProvider {
if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR) {
// Process rotation vector (just safe it)
// Calculate angle. Starting with API_18, Android will provide this value as event.values[3], but if not, we have to calculate it manually.
SensorManager.getQuaternionFromVector(tmpFloat, event.values);
SensorManager.getQuaternionFromVector(temporaryQuaternion, event.values);
// Store in quaternion
quaternionRotationVector.setXYZW(tmpFloat[1], tmpFloat[2], tmpFloat[3], -tmpFloat[0]);
quaternionRotationVector.setXYZW(temporaryQuaternion[1], temporaryQuaternion[2], temporaryQuaternion[3], -temporaryQuaternion[0]);
if (!positionInitialised) {
// Override
quaternionGyroscope.set(quaternionRotationVector);
@@ -218,13 +218,13 @@ public class ImprovedOrientationSensor2Provider extends OrientationProvider {
// Interpolate with a fixed weight between the two absolute quaternions obtained from gyro and rotation vector sensors
// The weight should be quite low, so the rotation vector corrects the gyro only slowly, and the output keeps responsive.
quaternionGyroscope.slerp(quaternionRotationVector, interpolateQuaternion,
quaternionGyroscope.slerp(quaternionRotationVector, interpolatedQuaternion,
(float) (INDIRECT_INTERPOLATION_WEIGHT * gyroscopeRotationVelocity));
// Use the interpolated value between gyro and rotationVector
setOrientationQuaternionAndMatrix(interpolateQuaternion);
setOrientationQuaternionAndMatrix(interpolatedQuaternion);
// Override current gyroscope-orientation
quaternionGyroscope.copyVec4(interpolateQuaternion);
quaternionGyroscope.copyVec4(interpolatedQuaternion);
// Reset the panic counter because both sensors are saying the same again
panicCounter = 0;
@@ -267,7 +267,7 @@ public class ImprovedOrientationSensor2Provider extends OrientationProvider {
// Before converting it back to matrix representation, we need to revert this process
correctedQuaternion.w(-correctedQuaternion.w());
synchronized (syncToken) {
synchronized (synchronizationToken) {
// Use gyro only
currentOrientationQuaternion.copyVec4(quaternion);

8
app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java
View File

@@ -28,7 +28,7 @@ public abstract class OrientationProvider implements SensorEventListener {
* Sync-token for syncing read/write to sensor-data from sensor manager and
* fusion algorithm
*/
protected final Object syncToken = new Object();
protected final Object synchronizationToken = new Object();
/**
* The list of sensors used by this provider
@@ -99,7 +99,7 @@ public abstract class OrientationProvider implements SensorEventListener {
* Get the current rotation of the device in the rotation matrix format (4x4 matrix)
*/
public void getRotationMatrix(MatrixF4x4 matrix) {
synchronized (syncToken) {
synchronized (synchronizationToken) {
matrix.set(currentOrientationRotationMatrix);
}
}
@@ -108,7 +108,7 @@ public abstract class OrientationProvider implements SensorEventListener {
* Get the current rotation of the device in the quaternion format (vector4f)
*/
public void getQuaternion(Quaternion quaternion) {
synchronized (syncToken) {
synchronized (synchronizationToken) {
quaternion.set(currentOrientationQuaternion);
}
}
@@ -117,7 +117,7 @@ public abstract class OrientationProvider implements SensorEventListener {
* Get the current rotation of the device in the Euler angles
*/
public void getEulerAngles(float angles[]) {
synchronized (syncToken) {
synchronized (synchronizationToken) {
SensorManager.getOrientation(currentOrientationRotationMatrix.matrix, angles);
}
}

9
app/src/main/java/org/hitlabnz/sensor_fusion_demo/orientationProvider/RotationVectorProvider.java
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@@ -13,11 +13,10 @@ import android.hardware.SensorManager;
*/
public class RotationVectorProvider extends OrientationProvider {
/**
* Temporary variable to save allocation
* Temporary quaternion to store the values obtained from the SensorManager
*/
final private float[] tmpFloat = new float[4];
final private float[] temporaryQuaternion = new float[4];
/**
* Initialises a new RotationVectorProvider
@@ -43,8 +42,8 @@ public class RotationVectorProvider extends OrientationProvider {
// Get Quaternion
// Calculate angle. Starting with API_18, Android will provide this value as event.values[3], but if not, we have to calculate it manually.
SensorManager.getQuaternionFromVector(tmpFloat, event.values);
currentOrientationQuaternion.setXYZW(tmpFloat[1], tmpFloat[2], tmpFloat[3], -tmpFloat[0]);
SensorManager.getQuaternionFromVector(temporaryQuaternion, event.values);
currentOrientationQuaternion.setXYZW(temporaryQuaternion[1], temporaryQuaternion[2], temporaryQuaternion[3], -temporaryQuaternion[0]);
}
}
}