コード例 #1
0
  private void processMagnetometerEvent(SensorEvent event) {

    Matrix magneticInWorld =
        worldBase.to(
            new Matrix(1, 3, new double[] {event.values[0], event.values[1], event.values[2]}));

    mMagnetometerVector.setValues(
        magneticInWorld.getValue(0, 0),
        magneticInWorld.getValue(1, 0),
        magneticInWorld.getValue(2, 0));
  }
コード例 #2
0
  private void processAccelerometerEvent(SensorEvent event) {

    for (int i = 0; i < 3; i++) {
      mAccMovingAverage[i].push(event.timestamp, event.values[i]);
    }

    long timestamp = event.timestamp;
    if (mLastAccTimeStamp == 0) {
      mLastAccTimeStamp = timestamp; // throw away the first event if
      // timestamp not set
      return;
    }

    boolean realign = realignCondition();

    long now = System.nanoTime();
    if (realign && now - lastRealignTimestamp > NANO) {
      lastRealignTimestamp = now;
      mTouched = false;
      // worldBase.realign(new Matrix(1, 3, new double[] {} ), 3);
      Vector3d axisZ = worldBase.getAxis(2); // z axis

      Vector3d acc =
          new Vector3d(
              mAccMovingAverage[0].getAverage(),
              mAccMovingAverage[1].getAverage(),
              mAccMovingAverage[2].getAverage());

      Vector3d rotationVector = axisZ.normalize().crossProduct(acc.normalize());

      double[] rotationMatrix = Transform.getRotationMatrixSORA(rotationVector.getValues());

      worldBase.transform(new Matrix(3, 3, rotationMatrix));

      mAccModel.reset();
    }

    // double deltaT = (double) (timestamp - mLastAccTimeStamp) / NANO;
    // Log.d(TAG, "values = (" + values[0] + ", " + values[1] + ", " +
    // values[2] + "), deltaT = " + deltaT);

    if (timestamp != 0) {

      Matrix accelerationInWorld =
          worldBase.to(
              new Matrix(1, 3, new double[] {event.values[0], event.values[1], event.values[2]}));

      mAccModel.processAccelerometerEvent(
          timestamp,
          (float) accelerationInWorld.getValue(0, 0),
          (float) accelerationInWorld.getValue(1, 0),
          (float) accelerationInWorld.getValue(2, 0));

      mAccelerationVector.setValues(
          accelerationInWorld.getValue(0, 0),
          accelerationInWorld.getValue(1, 0),
          accelerationInWorld.getValue(2, 0));
    }

    mLastAccTimeStamp = timestamp;
  }