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Added Euler-Angle representation to demo and extracted OrientationVisualisationFragment into separate class.

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This commit is contained in:
Alexander Pacha
2015-03-07 23:25:16 +01:00
parent 182a3034e5
commit 433f880601
4 changed files with 162 additions and 112 deletions
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110
src/org/hitlabnz/sensor_fusion_demo/OrientationVisualisationFragment.java Normal file
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@@ -0,0 +1,110 @@
package org.hitlabnz.sensor_fusion_demo;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.AccelerometerCompassProvider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.CalibratedGyroscopeProvider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.GravityCompassProvider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.ImprovedOrientationSensor1Provider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.ImprovedOrientationSensor2Provider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.OrientationProvider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.RotationVectorProvider;
import android.hardware.SensorManager;
import android.opengl.GLSurfaceView;
import android.os.Bundle;
import android.support.v4.app.Fragment;
import android.view.LayoutInflater;
import android.view.View;
import android.view.ViewGroup;
import android.view.View.OnLongClickListener;
/**
* A fragment that contains the same visualisation for different orientation providers
*/
public class OrientationVisualisationFragment extends Fragment {
/**
* The surface that will be drawn upon
*/
private GLSurfaceView mGLSurfaceView;
/**
* The class that renders the cube
*/
private CubeRenderer mRenderer;
/**
* The current orientation provider that delivers device orientation.
*/
private OrientationProvider currentOrientationProvider;
/**
* The fragment argument representing the section number for this
* fragment.
*/
public static final String ARG_SECTION_NUMBER = "section_number";
@Override
public void onResume() {
// Ideally a game should implement onResume() and onPause()
// to take appropriate action when the activity looses focus
super.onResume();
currentOrientationProvider.start();
mGLSurfaceView.onResume();
}
@Override
public void onPause() {
// Ideally a game should implement onResume() and onPause()
// to take appropriate action when the activity looses focus
super.onPause();
currentOrientationProvider.stop();
mGLSurfaceView.onPause();
}
@Override
public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
// Initialise the orientationProvider
switch (getArguments().getInt(ARG_SECTION_NUMBER)) {
case 1:
currentOrientationProvider = new ImprovedOrientationSensor1Provider((SensorManager) getActivity()
.getSystemService(SensorSelectionActivity.SENSOR_SERVICE));
break;
case 2:
currentOrientationProvider = new ImprovedOrientationSensor2Provider((SensorManager) getActivity()
.getSystemService(SensorSelectionActivity.SENSOR_SERVICE));
break;
case 3:
currentOrientationProvider = new RotationVectorProvider((SensorManager) getActivity().getSystemService(
SensorSelectionActivity.SENSOR_SERVICE));
break;
case 4:
currentOrientationProvider = new CalibratedGyroscopeProvider((SensorManager) getActivity()
.getSystemService(SensorSelectionActivity.SENSOR_SERVICE));
break;
case 5:
currentOrientationProvider = new GravityCompassProvider((SensorManager) getActivity().getSystemService(
SensorSelectionActivity.SENSOR_SERVICE));
break;
case 6:
currentOrientationProvider = new AccelerometerCompassProvider((SensorManager) getActivity()
.getSystemService(SensorSelectionActivity.SENSOR_SERVICE));
break;
default:
break;
}
// Create our Preview view and set it as the content of our Activity
mRenderer = new CubeRenderer();
mRenderer.setOrientationProvider(currentOrientationProvider);
mGLSurfaceView = new GLSurfaceView(getActivity());
mGLSurfaceView.setRenderer(mRenderer);
mGLSurfaceView.setOnLongClickListener(new OnLongClickListener() {
@Override
public boolean onLongClick(View v) {
mRenderer.toggleShowCubeInsideOut();
return true;
}
});
return mGLSurfaceView;
}
}

105
src/org/hitlabnz/sensor_fusion_demo/SensorSelectionActivity.java
View File

@@ -2,31 +2,18 @@ package org.hitlabnz.sensor_fusion_demo;
import java.util.Locale;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.AccelerometerCompassProvider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.CalibratedGyroscopeProvider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.GravityCompassProvider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.ImprovedOrientationSensor1Provider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.ImprovedOrientationSensor2Provider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.OrientationProvider;
import org.hitlabnz.sensor_fusion_demo.orientationProvider.RotationVectorProvider;
import android.app.AlertDialog;
import android.content.DialogInterface;
import android.content.Intent;
import android.hardware.SensorManager;
import android.opengl.GLSurfaceView;
import android.os.Bundle;
import android.support.v4.app.Fragment;
import android.support.v4.app.FragmentActivity;
import android.support.v4.app.FragmentManager;
import android.support.v4.app.FragmentPagerAdapter;
import android.support.v4.view.ViewPager;
import android.view.LayoutInflater;
import android.view.Menu;
import android.view.MenuItem;
import android.view.View;
import android.view.View.OnLongClickListener;
import android.view.ViewGroup;
/**
* The main activity where the user can select which sensor-fusion he wants to try out
@@ -158,96 +145,4 @@ public class SensorSelectionActivity extends FragmentActivity {
}
}
/**
* A fragment that contains the same visualisation for different orientation providers
*/
public static class OrientationVisualisationFragment extends Fragment {
/**
* The surface that will be drawn upon
*/
private GLSurfaceView mGLSurfaceView;
/**
* The class that renders the cube
*/
private CubeRenderer mRenderer;
/**
* The current orientation provider that delivers device orientation.
*/
private OrientationProvider currentOrientationProvider;
/**
* The fragment argument representing the section number for this
* fragment.
*/
public static final String ARG_SECTION_NUMBER = "section_number";
@Override
public void onResume() {
// Ideally a game should implement onResume() and onPause()
// to take appropriate action when the activity looses focus
super.onResume();
currentOrientationProvider.start();
mGLSurfaceView.onResume();
}
@Override
public void onPause() {
// Ideally a game should implement onResume() and onPause()
// to take appropriate action when the activity looses focus
super.onPause();
currentOrientationProvider.stop();
mGLSurfaceView.onPause();
}
@Override
public View onCreateView(LayoutInflater inflater, ViewGroup container, Bundle savedInstanceState) {
// Initialise the orientationProvider
switch (getArguments().getInt(ARG_SECTION_NUMBER)) {
case 1:
currentOrientationProvider = new ImprovedOrientationSensor1Provider((SensorManager) getActivity()
.getSystemService(SENSOR_SERVICE));
break;
case 2:
currentOrientationProvider = new ImprovedOrientationSensor2Provider((SensorManager) getActivity()
.getSystemService(SENSOR_SERVICE));
break;
case 3:
currentOrientationProvider = new RotationVectorProvider((SensorManager) getActivity().getSystemService(
SENSOR_SERVICE));
break;
case 4:
currentOrientationProvider = new CalibratedGyroscopeProvider((SensorManager) getActivity()
.getSystemService(SENSOR_SERVICE));
break;
case 5:
currentOrientationProvider = new GravityCompassProvider((SensorManager) getActivity().getSystemService(
SENSOR_SERVICE));
break;
case 6:
currentOrientationProvider = new AccelerometerCompassProvider((SensorManager) getActivity()
.getSystemService(SENSOR_SERVICE));
break;
default:
break;
}
// Create our Preview view and set it as the content of our Activity
mRenderer = new CubeRenderer();
mRenderer.setOrientationProvider(currentOrientationProvider);
mGLSurfaceView = new GLSurfaceView(getActivity());
mGLSurfaceView.setRenderer(mRenderer);
mGLSurfaceView.setOnLongClickListener(new OnLongClickListener() {
@Override
public boolean onLongClick(View v) {
mRenderer.toggleShowCubeInsideOut();
return true;
}
});
return mGLSurfaceView;
}
}
}

33
src/org/hitlabnz/sensor_fusion_demo/orientationProvider/OrientationProvider.java
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@@ -6,6 +6,7 @@ package org.hitlabnz.sensor_fusion_demo.orientationProvider;
import java.util.ArrayList;
import java.util.List;
import org.hitlabnz.sensor_fusion_demo.representation.EulerAngles;
import org.hitlabnz.sensor_fusion_demo.representation.Matrixf4x4;
import org.hitlabnz.sensor_fusion_demo.representation.Quaternion;
@@ -14,8 +15,9 @@ import android.hardware.SensorEventListener;
import android.hardware.SensorManager;
/**
* Classes implementing this interface provide an orientation of the device either by directly accessing hardware, using
* Android sensor fusion or fusing sensors itself.
* Classes implementing this interface provide an orientation of the device
* either by directly accessing hardware, using Android sensor fusion or fusing
* sensors itself.
*
* The orientation can be provided as rotation matrix or quaternion.
*
@@ -24,7 +26,8 @@ import android.hardware.SensorManager;
*/
public abstract class OrientationProvider implements SensorEventListener {
/**
* Sync-token for syncing read/write to sensor-data from sensor manager and fusion algorithm
* Sync-token for syncing read/write to sensor-data from sensor manager and
* fusion algorithm
*/
protected final Object syncToken = new Object();
@@ -51,7 +54,8 @@ public abstract class OrientationProvider implements SensorEventListener {
/**
* Initialises a new OrientationProvider
*
* @param sensorManager The android sensor manager
* @param sensorManager
* The android sensor manager
*/
public OrientationProvider(SensorManager sensorManager) {
this.sensorManager = sensorManager;
@@ -72,7 +76,8 @@ public abstract class OrientationProvider implements SensorEventListener {
for (Sensor sensor : sensorList) {
// enable our sensors when the activity is resumed, ask for
// 20 ms updates (Sensor_delay_game)
sensorManager.registerListener(this, sensor, SensorManager.SENSOR_DELAY_GAME);
sensorManager.registerListener(this, sensor,
SensorManager.SENSOR_DELAY_GAME);
}
}
@@ -92,7 +97,8 @@ public abstract class OrientationProvider implements SensorEventListener {
}
/**
* @return Returns the current rotation of the device in the rotation matrix format (4x4 matrix)
* @return Returns the current rotation of the device in the rotation matrix
* format (4x4 matrix)
*/
public Matrixf4x4 getRotationMatrix() {
synchronized (syncToken) {
@@ -101,11 +107,24 @@ public abstract class OrientationProvider implements SensorEventListener {
}
/**
* @return Returns the current rotation of the device in the quaternion format (vector4f)
* @return Returns the current rotation of the device in the quaternion
* format (vector4f)
*/
public Quaternion getQuaternion() {
synchronized (syncToken) {
return currentOrientationQuaternion.clone();
}
}
/**
* @return Returns the current rotation of the device in the Euler-Angles
*/
public EulerAngles getEulerAngles() {
synchronized (syncToken) {
float[] angles = new float[3];
SensorManager.getOrientation(currentOrientationRotationMatrix.matrix, angles);
return new EulerAngles(angles[0], angles[1], angles[2]);
}
}
}

26
src/org/hitlabnz/sensor_fusion_demo/representation/EulerAngles.java Normal file
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@@ -0,0 +1,26 @@
package org.hitlabnz.sensor_fusion_demo.representation;
public class EulerAngles {
private float yaw;
private float pitch;
private float roll;
public EulerAngles(float yaw, float pitch, float roll) {
this.yaw = yaw;
this.pitch = pitch;
this.roll = roll;
}
public float getYaw() {
return yaw;
}
public float getPitch() {
return pitch;
}
public float getRoll() {
return roll;
}
}