private void Start()
{
// init filter
kalmanFilters = new SimpleKalman[4];
for (int i = 0; i < kalmanFilters.Length; i++)
{
kalmanFilters[i] = new SimpleKalman();
kalmanFilters[i].Q = kalmanQ;
kalmanFilters[i].R = kalmanR;
}
orientationFilter = new SimpleKalman[2];
for (int i = 0; i < orientationFilter.Length; i++)
{
orientationFilter[i] = new SimpleKalman();
orientationFilter[i].Q = 0.0001;
orientationFilter[i].R = 0.005;
}
hipHeightFilter = new SimpleKalman();
hipHeightFilter.Q = 0.0001;
hipHeightFilter.R = 0.003;
InitFeet();
// register data receiver becaus head rotation is needed here
UnityModelDataManager mdm = GetComponent <UnityModelDataManager>();
mdm.SubscribeReceiver(this);
}
public void Initialize(Transform leftFoot, Transform rightFoot)
{
// init filter
kalmanFilters = new SimpleKalman[4];
for (int i = 0; i < kalmanFilters.Length; i++)
{
kalmanFilters[i] = new SimpleKalman();
kalmanFilters[i].Q = kalmanQ;
kalmanFilters[i].R = kalmanR;
}
orientationFilter = new SimpleKalman[2];
for (int i = 0; i < orientationFilter.Length; i++)
{
orientationFilter[i] = new SimpleKalman();
orientationFilter[i].Q = 0.0001;
orientationFilter[i].R = 0.005;
}
hipHeightFilter = new SimpleKalman();
hipHeightFilter.Q = 0.0001;
hipHeightFilter.R = 0.003;
viveLeftFoot = leftFoot; //GameObject.FindGameObjectWithTag("ViveTracker01").transform;
viveRightFoot = rightFoot; //GameObject.FindGameObjectWithTag("ViveTracker02").transform;
//if (useHandTracking) {
// viveLeftHand = GameObject.FindGameObjectWithTag("ViveController01").transform;
// viveRightHand = GameObject.FindGameObjectWithTag("ViveController02").transform;
//}
InitFeet();
// register data receiver becaus head rotation is needed here
UnityModelDataManager mdm = GetComponent <UnityModelDataManager>();
mdm.SubscribeReceiver(this);
//mdm.userID = ID;
UserManager.Instance.AddTrackedEntity(this);
}
// -------------------------
#region unity callbacks
void Start()
{
kalman = new SimpleKalman();
kalman.Q = 0.00005;
kalman.R = 0.01;
}
void Start()
{
kalman = new SimpleKalman();
}
