/// <summary>
/// Transform the specified input.
/// </summary>
/// <returns>The transform.</returns>
/// <param name="input">Input.</param>
public List <SensorReading> Transform(IEnumerable <ICsvWritable> input)
{
const decimal alpha = 0.8M;
List <SensorReading> output = new List <SensorReading>();
foreach (SensorReading reading in input)
{
decimal xAccel = reading.AccelX,
yAccel = reading.AccelY,
zAccel = reading.AccelZ;
GRAVITY[ACCEL_X] = alpha * GRAVITY[ACCEL_X] + (1 - alpha) * xAccel;
GRAVITY[ACCEL_Y] = alpha * GRAVITY[ACCEL_Y] + (1 - alpha) * yAccel;
GRAVITY[ACCEL_Z] = alpha * GRAVITY[ACCEL_Z] + (1 - alpha) * zAccel;
decimal newAccelX = (xAccel - GRAVITY[ACCEL_X]),
newAccelY = (yAccel - GRAVITY[ACCEL_Y]),
newAccelZ = (zAccel - GRAVITY[ACCEL_Z]);
SensorReading newReading = new SensorReading(reading);
newReading.SetAccelVector(newAccelX, newAccelY, newAccelZ);
output.Add(newReading);
}
return(output);
}
/// <summary>
/// Transform the specified input.
/// </summary>
/// <returns>The transform.</returns>
/// <param name="input">Input.</param>
public List <SensorReading> Transform(IEnumerable <ICsvWritable> input)
{
var emaAzimuth = new ExponentialMovingAverage();
var emaPitch = new ExponentialMovingAverage();
var emaRoll = new ExponentialMovingAverage();
var emaAccelX = new ExponentialMovingAverage();
var emaAccelY = new ExponentialMovingAverage();
var emaAccelZ = new ExponentialMovingAverage();
var output = new List <SensorReading>();
foreach (SensorReading reading in input)
{
var newReading = new SensorReading(reading);
newReading.SetGyroVector(emaAzimuth.GetAverage(reading.Azimuth),
emaPitch.GetAverage(reading.Pitch),
emaRoll.GetAverage(reading.Roll));
newReading.SetAccelVector(emaAccelX.GetAverage(reading.AccelX),
emaAccelY.GetAverage(reading.AccelY),
emaAccelZ.GetAverage(reading.AccelZ));
output.Add(newReading);
}
return(output);
}