/**
* sets segment current orientation using TRIAD algorithm
*
* @param sensor sensor of corresponding sensor
*/
public void setSegmentOrientationTRIAD(Sensor sensor) {
float[][] rotMat =
SensorDataProcessing.getRotationTRIAD(sensor.getAccNorm(), sensor.getMagNorm());
// rotate each segment
for (int i = 0; i < 4; i++) {
SensorDataProcessing.multiplyMatrix(rotMat, initialCross[i], cross[i]);
}
}
public static void compansateCentersForTilt(
Vector<Vector<Segment>> refferenceStateInitial,
Vector<Vector<Segment>> refferenceState,
float[][] Rreference,
float[][] Rcurent) {
float[][] R = SensorDataProcessing.multMatMatT(Rcurent, Rreference);
// SensorDataProcessing.transpose(R);
for (int i = 0; i < refferenceState.size(); i++) {
for (int j = 0; j < refferenceState.get(0).size(); j++) {
SensorDataProcessing.multiplyMatrix(
R, refferenceStateInitial.get(i).get(j).center, refferenceState.get(i).get(j).center);
}
}
}
public static void compansateCentersForTilt(
Segment[][] refferenceStateInitial,
Segment[][] refferenceState,
float[][] Rreference,
float[][] Rcurent) {
float[][] R = SensorDataProcessing.multMatMatT(Rcurent, Rreference);
// SensorDataProcessing.transpose(R);
for (int i = 0; i < refferenceState.length; i++) {
for (int j = 0; j < refferenceState[0].length; j++) {
SensorDataProcessing.multiplyMatrix(
R, refferenceStateInitial[i][j].center, refferenceState[i][j].center);
}
}
}
