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package com.diozero.devices.imu;
/*
* #%L
* Organisation: diozero
* Project: Device I/O Zero - Core
* Filename: ImuDataFactory.java
*
* This file is part of the diozero project. More information about this project
* can be found at http://www.diozero.com/
* %%
* Copyright (C) 2016 - 2021 diozero
* %%
* Permission is hereby granted, free of charge, to any person obtaining a copy
* of this software and associated documentation files (the "Software"), to deal
* in the Software without restriction, including without limitation the rights
* to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
* copies of the Software, and to permit persons to whom the Software is
* furnished to do so, subject to the following conditions:
*
* The above copyright notice and this permission notice shall be included in
* all copies or substantial portions of the Software.
*
* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
* IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
* FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
* AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
* LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
* OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
* THE SOFTWARE.
* #L%
*/
import org.apache.commons.math3.complex.Quaternion;
import org.apache.commons.math3.geometry.euclidean.threed.Vector3D;
public class ImuDataFactory {
static final int MPU9150_QUAT_W = 0;
static final int MPU9150_QUAT_X = 1;
static final int MPU9150_QUAT_Y = 2;
static final int MPU9150_QUAT_Z = 3;
public static Vector3D createVector(short[] data, double scale) {
return new Vector3D(data[0]*scale, data[1]*scale, data[2]*scale);
}
public static Quaternion createQuaternion(int[] quat, double scale) {
// This article suggests QUAT_W is [0]
// https://github.com/vmayoral/bb_mpu9150/blob/master/src/linux-mpu9150/mpu9150/mpu9150.c
Quaternion quaterion = new Quaternion(quat[MPU9150_QUAT_W]*scale, quat[MPU9150_QUAT_X]*scale,
quat[MPU9150_QUAT_Y]*scale, quat[MPU9150_QUAT_Z]*scale);
return quaterion.normalize();
}
public static ImuData newInstance(short[] gyro, short[] accel, short[] compass, float temperature,
double gyroScale, double accelScale, double compassScale) {
return new ImuData(createVector(gyro, gyroScale), createVector(accel, accelScale),
null, createVector(compass, compassScale), temperature, System.currentTimeMillis());
}
}
