// onOrientationData() is called whenever a Myo provides its current orientation,
// represented as a quaternion.
@Override
public void onOrientationData(Myo myo, long timestamp, Quaternion rotation) {
// Calculate Euler angles (roll, pitch, and yaw) from the quaternion.
float roll = (float) Math.toDegrees(Quaternion.roll(rotation));
float pitch = (float) Math.toDegrees(Quaternion.pitch(rotation));
float yaw = (float) Math.toDegrees(Quaternion.yaw(rotation));
// Adjust roll and pitch for the orientation of the Myo on the arm.
if (myo.getXDirection() == XDirection.TOWARD_ELBOW) {
roll *= -1;
pitch *= -1;
}
// Next, we apply a rotation to the text view using the roll, pitch, and yaw.
// mTextView.setRotation(roll);
// mTextView.setRotationX(pitch);
// mTextView.setRotationY(yaw);
}
@Override
public void onOrientationData(Myo myo, long timestamp, Quaternion rotation) {
Quaternion normalized = rotation.normalized();
double roll =
Math.atan2(
2.0f * (normalized.getW() * normalized.getX() + normalized.getY() * normalized.getZ()),
1.0f
- 2.0f
* (normalized.getX() * normalized.getX()
+ normalized.getY() * normalized.getY()));
double pitch =
Math.asin(
2.0f * (normalized.getW() * normalized.getY() - normalized.getZ() * normalized.getX()));
double yaw =
Math.atan2(
2.0f * (normalized.getW() * normalized.getZ() + normalized.getX() * normalized.getY()),
1.0f
- 2.0f
* (normalized.getY() * normalized.getY()
+ normalized.getZ() * normalized.getZ()));
rollW = ((roll + Math.PI) / (Math.PI * 2.0) * SCALE);
pitchW = ((pitch + Math.PI / 2.0) / Math.PI * SCALE);
yawW = ((yaw + Math.PI) / (Math.PI * 2.0) * SCALE);
OrientationData orientation = new OrientationData();
orientation.rollW = rollW;
orientation.pitchW = pitchW;
orientation.yawW = yawW;
System.out.println(orientation.rollW);
}
