public virtual void Reset()
{
FirstTime = true;
FusionPose = new Vector3();
FusionQPose.FromEuler(FusionPose);
Gyro = new Vector3();
Acceleration = new Vector3();
MagneticField = new Vector3();
MeasuredPose = new Vector3();
MeasuredQPose.FromEuler(MeasuredPose);
SampleNumber = 0;
}
protected void CalculatePose(Vector3?acceleration, Vector3?magneticField, double magDeclination)
{
if (acceleration.HasValue)
{
MeasuredPose = acceleration.Value.AccelToEuler();
}
else
{
MeasuredPose = FusionPose;
MeasuredPose.Z = 0;
}
if (magneticField.HasValue)
{
var q = new Quaternion();
q.FromEuler(MeasuredPose);
var m = new Quaternion(0, magneticField.Value.X, magneticField.Value.Y, magneticField.Value.Z);
m = q * m * q.Conjugate();
MeasuredPose.Z = -Math.Atan2(m.Y, m.X) - magDeclination;
}
else
{
MeasuredPose.Z = FusionPose.Z;
}
MeasuredQPose.FromEuler(MeasuredPose);
// check for quaternion aliasing. If the quaternion has the wrong sign
// the filter will be very unhappy.
int maxIndex = -1;
double maxVal = -1000;
for (int i = 0; i < 4; i++)
{
if (Math.Abs(MeasuredQPose.GetData(i)) > maxVal)
{
maxVal = Math.Abs(MeasuredQPose.GetData(i));
maxIndex = i;
}
}
// if the biggest component has a different sign in the measured and kalman poses,
// change the sign of the measured pose to match.
if (((MeasuredQPose.GetData(maxIndex) < 0) && (FusionQPose.GetData(maxIndex) > 0)) ||
((MeasuredQPose.GetData(maxIndex) > 0) && (FusionQPose.GetData(maxIndex) < 0)))
{
MeasuredQPose.Scalar = -MeasuredQPose.Scalar;
MeasuredQPose.X = -MeasuredQPose.X;
MeasuredQPose.Y = -MeasuredQPose.Y;
MeasuredQPose.Z = -MeasuredQPose.Z;
MeasuredQPose.ToEuler(out MeasuredPose);
}
}