public Vector3 getFilteredAcceleration(out MovementStepData md)
{
MovementStepData msd = getRawData();
md = msd;
int N = dataQueue.Count;
if (N == 0)
{
N++;
}
Vector3 outputVec = new Vector3(msd.linearAccAverage.x, msd.linearAccAverage.y, msd.linearAccAverage.z);
float diffOfRotAndMovEnergies = 0.4f;
if ((msd.gyroRotationEnergy - msd.linearAccEnergy) > diffOfRotAndMovEnergies)
{
return(Vector3.zero);
}
float z = outputVec.z;
float deltaToDistinguishFrontAndBack = 0.026f;
if (z > 0) //if moving back
{
if (z < deltaToDistinguishFrontAndBack) //not strongly - forbid back movement
{
outputVec.z = 0;
}
else //strongly - enforce
{
outputVec.z *= 1.5f;
}
}
return(outputVec);
}
public void insertData(GyroControl gc)
{
Gyroscope gyro = gc.gyro;
Vector3 linearAcc = gyro.userAcceleration;
Vector3 gyroRotationSpeed = gyro.rotationRateUnbiased;
//Vector3 linearAcc = new Vector3(0.1f, 0.1f, 0.2f);
//Vector3 gyroRotationSpeed = new Vector3(0.1f, 0.1f, 0.2f);
float linearAccMagnitude = linearAcc.magnitude;
float gyroRotationSpeedMagnitude = gyroRotationSpeed.magnitude;
Vector3 linearAccClearedFromConstant = new Vector3(0, 0, 0);
Vector3 gyroRotationSpeedClearedFromConstant = new Vector3(0, 0, 0);
Vector3 linearAccAverage = new Vector3(0, 0, 0);
float linearAccMagnitudeClearedFromConstant = 0;
float gyroRotationSpeedMagnitudeClearedFromConstant = 0;
float linearAccEnergy = 0;
float gyroRotationEnergy = 0;
int N = dataQueue.Count;
if (N == 0)
{
N++;
}
foreach (MovementStepData md in dataQueue)
{
linearAccClearedFromConstant += md.linearAcc;
linearAccAverage += md.linearAcc;
gyroRotationSpeedClearedFromConstant += md.gyroRotationSpeed;
linearAccMagnitudeClearedFromConstant += md.linearAccMagnitude;
gyroRotationSpeedMagnitudeClearedFromConstant += md.gyroRotationSpeedMagnitude;
linearAccEnergy += md.linearAccMagnitudeClearedFromConstant;
gyroRotationEnergy += md.gyroRotationSpeedMagnitudeClearedFromConstant;
}
linearAccClearedFromConstant = linearAcc - 1 / N * linearAccClearedFromConstant;
linearAccAverage /= N;
gyroRotationSpeedClearedFromConstant = gyroRotationSpeed - 1 / N * gyroRotationSpeedClearedFromConstant;
linearAccMagnitudeClearedFromConstant = linearAccMagnitude - 1 / N * linearAccMagnitudeClearedFromConstant;
gyroRotationSpeedMagnitudeClearedFromConstant = gyroRotationSpeedMagnitude - 1 / N * gyroRotationSpeedMagnitudeClearedFromConstant;
linearAccEnergy /= N;
gyroRotationEnergy /= N;
float linearAccVariance = 0;
float gyroRotationVariance = 0;
foreach (MovementStepData md in dataQueue)
{
float curLinVarMember = md.linearAccMagnitudeClearedFromConstant + linearAccEnergy;
linearAccVariance += curLinVarMember * curLinVarMember;
float curRotVarMember = md.gyroRotationSpeedMagnitudeClearedFromConstant + gyroRotationEnergy;
gyroRotationVariance += curRotVarMember * curRotVarMember;
}
linearAccVariance /= N;
gyroRotationVariance /= N;
MovementStepData mdNew = new MovementStepData();
mdNew.gyroRotationEnergy = gyroRotationEnergy;
mdNew.gyroRotationSpeed = gyroRotationSpeed;
mdNew.gyroRotationSpeedClearedFromConstant = gyroRotationSpeedClearedFromConstant;
mdNew.gyroRotationSpeedMagnitude = gyroRotationSpeedMagnitude;
mdNew.gyroRotationSpeedMagnitudeClearedFromConstant = gyroRotationSpeedMagnitudeClearedFromConstant;
mdNew.gyroRotationVariance = gyroRotationVariance;
mdNew.linearAcc = linearAcc;
mdNew.linearAccClearedFromConstant = linearAccClearedFromConstant;
mdNew.linearAccEnergy = linearAccEnergy;
mdNew.linearAccMagnitude = linearAccMagnitude;
mdNew.linearAccMagnitudeClearedFromConstant = linearAccMagnitudeClearedFromConstant;
mdNew.linearAccVariance = linearAccVariance;
mdNew.linearAccAverage = linearAccAverage;
if (N >= maxDepth)
{
dataQueue.Dequeue();
}
dataQueue.Enqueue(mdNew);
lastMSD = mdNew;
}
