/// <summary>
/// 获取最新速度数据并发送
/// </summary>
private void OnUpdateGestureResultTime(object sender, System.Timers.ElapsedEventArgs e)
{
EulerAngle upperOffset = EulerAngleOffset(_latestUpperArmAngleSpeed);
EulerAngle foreOffset = EulerAngleOffset(_latestForeArmAngleSpeed);
GestureUpdated?.Invoke(upperOffset, foreOffset);
}
/// <summary>
/// 根据速度计算角度偏移量
/// </summary>
/// <param name="speed">传感器速度监测值</param>
/// <returns></returns>
public EulerAngle EulerAngleOffset(EulerAngleSpeed speed)
{
EulerAngle angle = new EulerAngle();
if (IsMove(speed))
{
angle.Pitch = speed.PitchSpeed * _speedK;
angle.Yaw = speed.YawSpeed * _speedK;
angle.Roll = speed.RollSpeed * _speedK;
}
return(angle);
}
/// <summary>
/// 叠加两个欧拉角
/// </summary>
/// <param name="angle1"></param>
/// <param name="angle2"></param>
/// <returns></returns>
public EulerAngle AddOffset(EulerAngle angle1, EulerAngle angle2)
{
return(new EulerAngle {
Pitch = angle1.Pitch + angle2.Pitch, Yaw = angle1.Yaw + angle2.Yaw, Roll = angle1.Roll + angle2.Roll
});
}
