FHWS/Indoor
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added new sanity-check assertions

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fixed issue with angles [bad interface]
- adjusted other parts accordingly
- added corresponding test-cases
started working on absolute heading
This commit is contained in:
FrankE
2017-03-31 11:47:29 +02:00
parent 2fdaa795b2
commit 8930be1e2c
10 changed files with 168 additions and 19 deletions
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26
sensors/offline/OfflineAndroid.h
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@@ -54,7 +54,7 @@ private:
std::vector<OfflineEntry<GyroscopeData>> gyro;
std::vector<OfflineEntry<AccelerometerData>> accel;
std::vector<OfflineEntry<AccelerometerData>> gravity;
std::vector<OfflineEntry<GravityData>> gravity;
std::vector<OfflineEntry<CompassData>> compass;
std::vector<OfflineEntry<BarometerData>> barometer;
@@ -86,7 +86,7 @@ public:
const std::vector<OfflineEntry<AccelerometerData>>& getAccelerometer() const {return accel;}
/** get all gravity readings */
const std::vector<OfflineEntry<AccelerometerData>>& getGravity() const {return gravity;}
const std::vector<OfflineEntry<GravityData>>& getGravity() const {return gravity;}
/** get all barometer readings */
const std::vector<OfflineEntry<BarometerData>>& getBarometer() const {return barometer;}
@@ -173,8 +173,8 @@ private:
}
case (int) Offline::Sensor::GRAVITY: {
const AccelerometerData data = parseAccelerometer(sensorData);
gravity.push_back(OfflineEntry<AccelerometerData>(ts, data));
const GravityData data = parseGravity(sensorData);
gravity.push_back(OfflineEntry<GravityData>(ts, data));
if (listener) {listener->onGravity(ts, data);}
break;
}
@@ -301,6 +301,24 @@ private:
}
static inline GravityData parseGravity(const std::string& data) {
const size_t pos1 = data.find(';', 0);
const size_t pos2 = data.find(';', pos1+1);
const size_t pos3 = data.find(';', pos2+1);
Assert::isTrue(pos1 != std::string::npos, "format error");
Assert::isTrue(pos2 != std::string::npos, "format error");
Assert::isTrue(pos3 != std::string::npos, "format error");
const std::string sx = data.substr(0, pos1);
const std::string sy = data.substr(pos1+1, pos2-pos1-1);
const std::string sz = data.substr(pos2+1, pos3-pos2-1);
return GravityData(std::stof(sx), std::stof(sy), std::stof(sz));
}
/** parse the given Barometer entry */
static inline BarometerData parseBarometer(const std::string& data) {