示例#1
0
        // 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);
        }
示例#2
0
  @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);
  }