Kotni vektorji, kup popravkov
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8ca3b235b7
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@ -1,13 +1,21 @@
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AHRSensor {
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var <id,
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<parent,
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// Kalibracijski quaternion (kao nula)
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<>calibQuat,
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<>parent,
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// Surov kvaternion iz senzorjev
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<>quat,
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// Kalibracijski quaternion (kao "nula")
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<>refQuat,
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// Relativni kvaternion (razlika od parenta)
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<relQuat,
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// Razlika od prejsnjega do trenutnega quaterniona
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<quatDiff,
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<>euler,
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<>eulerD,
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// "Prednji" vektor
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<>vecF,
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// "Zgornji" vektor
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<>vecT,
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<>accel,
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<>accelSum,
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@ -20,24 +28,42 @@ AHRSensor {
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<gQx,
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<gQy,
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<gQz,
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// Kalibriraj quaternion
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<gQc,
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// Referencni quaternion
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<gQr,
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// Eulerjevi koti
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<gEx,
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<gEy,
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<gEz,
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// Relativni eulerjevi koti
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<gEdx,
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<gEdy,
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<gEdz,
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<gExl,
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<gEyl,
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<gEzl,
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// Rotacijski vektor
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<gVfx,
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<gVfy,
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<gVfz,
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<gVfxl,
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<gVfyl,
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<gVfzl,
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<gVtx,
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<gVty,
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<gVtz,
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<gVtxl,
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<gVtyl,
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<gVtzl,
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// Pospeskomer
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<gAx,
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<gAy,
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<gAz,
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<gAs,
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// Baterija
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<gB,
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<gBi,
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// Dogodkov na sekundo
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<gEps;
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@ -48,16 +74,22 @@ AHRSensor {
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quat2euler { |quat|
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// Quaternion
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//var w = quat.a, x = quat.b, y = quat.c, z = quat.d,
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//var q = [quat.b, quat.c, quat.d, quat.a],
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// Quaternion v supercolliderju gre po zaporedju wxyz = abcd
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// Iz foruma (BNO055): x = -y, y = x, z = -z
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var q = [quat.a, quat.b, quat.c, quat.d],
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//var q = [quat.a, quat.c.neg, quat.b, quat.d.neg],
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// Euler angles; roll, pitch and yaw
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e = [0, 0, 0];
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/**/
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e[0] = atan2((2 * q[2] * q[0]) - (2 * q[1] * q[3]), 1 - (2 * q[2] * q[2]) - (2 * q[3] * q[3]));
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e[1] = asin((2 * q[1] * q[2]) + (2 * q[3] * q[0]));
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e[2] = atan2((2 * q[1] * q[0]) - (2 * q[2] * q[3]), 1 - (2 * q[1] * q[1]) - (2 * q[3] * q[3]));
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/*
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e[0] = atan2( (2 * q[1] * q[2]) - (2 * q[0] * q[3]), (2 * q[0]*q[0]) + (2 * q[1] * q[1]) - 1); // psi
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e[1] = asin( (2 * q[1] * q[3]) + (2 * q[0] * q[2])).neg; // theta
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e[2] = atan2( (2 * q[2] * q[3]) - (2 * q[0] * q[1]), (2 * q[0] * q[0]) + (2 * q[3] * q[3]) - 1); // phi
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/**/
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*/
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/*
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// Variables
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@ -116,12 +148,15 @@ AHRSensor {
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}
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init {
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quat = Quaternion;
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calibQuat = Quaternion.new(1, 0, 0, 0);
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quat = Quaternion.new(1, 0, 0, 0);
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refQuat = Quaternion.new(1, 0, 0, 0);
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relQuat = Quaternion.new(1, 0, 0, 0);
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euler = [0, 0, 0];
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accel = [0, 0, 0];
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battery = 0;
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eps = 0;
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vecF = Cartesian.new(1, 0, 0);
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vecT = Cartesian.new(0, 0, 1);
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this.guiInit;
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}
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@ -140,11 +175,23 @@ AHRSensor {
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gEx = StaticText().string_(0).stringColor_(cRed);
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gEy = StaticText().string_(0).stringColor_(cGreen);
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gEz = StaticText().string_(0).stringColor_(cBlue);
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gExl = LevelIndicator();
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gEyl = LevelIndicator();
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gEzl = LevelIndicator();
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// Razlika v eulerju
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gEdx = StaticText().string_(0).stringColor_(cRed);
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gEdy = StaticText().string_(0).stringColor_(cGreen);
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gEdz = StaticText().string_(0).stringColor_(cBlue);
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gVfx = StaticText().string_(0).stringColor_(cRed);
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gVfy = StaticText().string_(0).stringColor_(cGreen);
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gVfz = StaticText().string_(0).stringColor_(cBlue);
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gVfxl = LevelIndicator();
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gVfyl = LevelIndicator();
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gVfzl = LevelIndicator();
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gVtx = StaticText().string_(0).stringColor_(cRed);
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gVty = StaticText().string_(0).stringColor_(cGreen);
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gVtz = StaticText().string_(0).stringColor_(cBlue);
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gVtxl = LevelIndicator();
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gVtyl = LevelIndicator();
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gVtzl = LevelIndicator();
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//gAx = StaticText().string_(0).stringColor_(cRed);
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//gAy = StaticText().string_(0).stringColor_(cGreen);
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@ -159,8 +206,8 @@ AHRSensor {
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gQy = StaticText().string_(0).stringColor_(cGreen);
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gQz = StaticText().string_(0).stringColor_(cBlue);
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gQc = Button().string_("cal").action_({ |butt|
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this.calibrateQuat;
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gQr = Button().string_("ref").action_({ |butt|
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this.setRefQuat;
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});
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gB = StaticText().string_(0).stringColor_(cRed);
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@ -170,19 +217,21 @@ AHRSensor {
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getGui {
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var napis = "Sensor " ++ id, elementi;
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if (parent != nil) { napis = napis ++ " (parent " ++ parent ++ ")"};
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if (parent != nil) { napis = napis ++ " (parent " ++ parent.id ++ ")"};
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elementi = [
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[
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StaticText().font_(Font("OpenSans", 12, true)).string_(napis),
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nil,
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[StaticText().string_("bat: "), align: \right],
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gB,
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[gB, columns: 2],
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gBi,
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nil,
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[StaticText().string_("events/s: "), align: \right],
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gEps,
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gQc
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gQr
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],
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/*
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[
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StaticText().string_("quaternion: "),
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[StaticText().string_("w: "), align: \right],
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@ -194,77 +243,162 @@ AHRSensor {
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[StaticText().string_("z: "), align: \right],
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gQz,
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],
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*/
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[
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StaticText().string_("euler: "),
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[StaticText().string_("e"), align: \right],
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[gExl, columns: 2],
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[gEyl, columns: 2],
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[gEzl, columns: 2],
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gEx, gEy, gEz
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],
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/*
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[
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StaticText().string_("vec F: "),
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[StaticText().string_("x: "), align: \right],
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gEx,
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gVfx,
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[StaticText().string_("y: "), align: \right],
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gEy,
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gVfy,
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[StaticText().string_("z: "), align: \right],
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gEz,
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gVfz
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],
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[
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StaticText().string_("accel: "),
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[StaticText().string_("vec F: "), align: \right],
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[gVfxl, columns: 2],
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[gVfyl, columns: 2],
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[gVfzl, columns: 2]
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],
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*/
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/*
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[
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StaticText().string_("vec T: "),
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[StaticText().string_("x: "), align: \right],
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gAx,
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gVtx,
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[StaticText().string_("y: "), align: \right],
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gAy,
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gVty,
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[StaticText().string_("z: "), align: \right],
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gAz,
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[StaticText().string_("sum: "), align: \right],
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gVtz
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],
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[
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[StaticText().string_("vec T:"), align: \right],
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[gVtxl, columns: 2],
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[gVtyl, columns: 2],
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[gVtzl, columns: 2]
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],
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*/
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[
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[StaticText().string_("accel: "), align: \right],
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[gAx, columns: 2],
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[gAy, columns: 2],
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[gAz, columns: 2],
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gAs
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],
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if (parent != nil) {
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[
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StaticText().string_("euler d: "),
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[StaticText().string_("x: "), align: \right],
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gEdx,
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[StaticText().string_("y: "), align: \right],
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gEdy,
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[StaticText().string_("z: "), align: \right],
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gEdz,
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];
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}
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]
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];
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^elementi;
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}
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calibrateQuat {
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calibQuat = quat;
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setQuat { |q|
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var rq;
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// Razlika od prejsnjega quaterniona
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quatDiff = quat.conjugate * q;
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// "Surov quat"
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quat = q;
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// Referencen quat
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rq = refQuat.conjugate * q;
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// Ce imamo parenta, shrani razliko, sicer samo referencen
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relQuat = if ((parent != nil), {
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parent.relQuat.conjugate * rq;
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// TODO ali bi tudi childe poapdejtali? Mislim, da ni treba, ker dokaj pogosto pride nov q
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}, {
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rq;
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});
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}
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updateEuler { |newQuat|
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euler = this.quat2euler(newQuat);
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setRefQuat {
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refQuat = quat;
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euler = [0, 0, 0];
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}
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updateEulerD { |newQuat|
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eulerD = this.quat2euler(newQuat);
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updateEuler { |q|
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// Normalize first ?
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euler = [q.tilt, q.tumble, q.rotate];
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//euler = euler + [quatDiff.tilt, quatDiff.tumble, quatDiff.rotate];
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//euler = this.quat2euler(newQuat);
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}
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rotateVector { |q|
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// rotiramo vektor s quaternionom
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var vF = Cartesian.new(1, 0, 0), vT = Cartesian.new(0, 0, 1),
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u, s, newVecF, newVecT;
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u = Cartesian.new(q.b, q.c, q.d);
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s = q.a;
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vecF = (
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(u * (2.0 * this.vecDotProd(u, vF)))
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+ (vF * ((s * s) - this.vecDotProd(u, u)))
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) + (
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this.vecCrossProd(u, vF) * (2.0 * s)
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);
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vecT = (
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(u * (2.0 * this.vecDotProd(u, vT)))
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+ (vT * ((s * s) - this.vecDotProd(u, u)))
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) + (
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this.vecCrossProd(u, vT) * (2.0 * s)
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);
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}
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vecDotProd { |v1, v2|
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^((v1.x * v2.x) + (v1.y * v2.y) + (v1.z * v2.z));
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}
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vecCrossProd { |v1, v2|
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^Cartesian.new(
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(v1.y * v2.z) - (v1.z * v2.y),
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(v1.z * v2.x) - (v1.x * v2.z),
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(v1.x * v2.y) - (v1.y * v2.x));
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}
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getDecimal { |num|
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// Stevilo decimalk
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var div = 0.01, rem;
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rem = num % div;
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^(num - rem);
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}
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refreshGuiQuat {
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// Stevilo decimalk
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var prec = 3;
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gQw.string_(quat.a.asStringPrec(prec));
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gQx.string_(quat.b.asStringPrec(prec));
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gQy.string_(quat.c.asStringPrec(prec));
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gQz.string_(quat.d.asStringPrec(prec));
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gQw.string_(this.getDecimal(quat.a));
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gQx.string_(this.getDecimal(quat.b));
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gQy.string_(this.getDecimal(quat.c));
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gQz.string_(this.getDecimal(quat.d));
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}
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refreshGuiEuler {
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// Stevilo decimalk
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var prec = 3;
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gEx.string_(euler[0].asStringPrec(prec));
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gEy.string_(euler[1].asStringPrec(prec));
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gEz.string_(euler[2].asStringPrec(prec));
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gEx.string_(this.getDecimal(euler[0]));
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gEy.string_(this.getDecimal(euler[1]));
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gEz.string_(this.getDecimal(euler[2]));
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gExl.value_(sin(euler[0]).linlin(-1, 1, 0, 1));
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gEyl.value_(sin(euler[1]).linlin(-1, 1, 0, 1));
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gEzl.value_(sin(euler[2]).linlin(-1, 1, 0, 1));
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}
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refreshGuiEulerD {
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// Stevilo decimalk
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var prec = 3;
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gEdx.string_(eulerD[0].asStringPrec(prec));
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gEdy.string_(eulerD[1].asStringPrec(prec));
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gEdz.string_(eulerD[2].asStringPrec(prec));
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refreshGuiVector {
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gVfx.string_(this.getDecimal(vecF.x));
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gVfy.string_(this.getDecimal(vecF.y));
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gVfz.string_(this.getDecimal(vecF.z));
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gVfxl.value_(vecF.x.linlin(-1, 1, 0, 1));
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gVfyl.value_(vecF.y.linlin(-1, 1, 0, 1));
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gVfzl.value_(vecF.z.linlin(-1, 1, 0, 1));
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gVtx.string_(this.getDecimal(vecT.x));
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gVty.string_(this.getDecimal(vecT.y));
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gVtz.string_(this.getDecimal(vecT.z));
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gVtxl.value_(vecT.x.linlin(-1, 1, 0, 1));
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gVtyl.value_(vecT.y.linlin(-1, 1, 0, 1));
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gVtzl.value_(vecT.z.linlin(-1, 1, 0, 1));
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}
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refreshGuiAccel {
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// Stevilo decimalk
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//var prec = 2;
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@ -275,13 +409,11 @@ AHRSensor {
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[gAx, gAy, gAz].do({|el, i|
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el.value_(accel[i].linlin(from, to, 0, 1));
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});
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gAs.value_(accelSum.linlin(0, 100, 0, 1));
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gAs.value_(accelSum.linlin(0, 50, 0, 1));
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}
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refreshGuiBat {
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// Stevilo decimalk
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var prec = 2;
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gB.string_(battery.asStringPrec(prec));
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gB.string_(this.getDecimal(battery));
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gBi.value_(battery.linlin(3.6, 4.2, 0, 1));
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}
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