075d8bb633
added main menu added debug display many debug widgets for plotting live data worked on android live sensors added offline-data sensor feeding some dummy data sensors worked on the map display added ui debug for grid-points, particles and weights added a cool dude to display the estimation added real filtering based on the Indoor components c++11 fixes for android compilation online and offline filtering support new resampling technique for testing map loading via dialog
54 lines
1.1 KiB
C++
54 lines
1.1 KiB
C++
#ifndef TURNSENSOR_H
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#define TURNSENSOR_H
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#include <Indoor/sensors/imu/TurnDetection.h>
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#include "AccelerometerSensor.h"
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#include "GyroscopeSensor.h"
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struct TurnData {
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float radSinceLastEvent;
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float radSinceStart;
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TurnData() : radSinceLastEvent(0), radSinceStart(0) {;}
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};
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class TurnSensor : public SensorListener<AccelerometerData>, public SensorListener<GyroscopeData>, public Sensor<TurnData> {
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private:
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TurnDetection turn;
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TurnData data;
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public:
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/** ctor */
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TurnSensor(AccelerometerSensor& acc, GyroscopeSensor& gyro) {
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acc.addListener(this);
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gyro.addListener(this);
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}
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void start() override {
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//
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}
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void stop() override {
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//
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}
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virtual void onSensorData(Sensor<AccelerometerData>* sensor, const Timestamp ts, const AccelerometerData& data) override {
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(void) sensor;
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turn.addAccelerometer(ts, data);
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}
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virtual void onSensorData(Sensor<GyroscopeData>* sensor, const Timestamp ts, const GyroscopeData& data) override {
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(void) sensor;
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const float rad = turn.addGyroscope(ts, data);
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this->data.radSinceLastEvent = rad;
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this->data.radSinceStart += rad;
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informListeners(ts, this->data);
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}
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};
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#endif // TURNSENSOR_H
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