/// <summary>
/// Grabs data from accelerometer and gyroscope,normalizes it, and stores it into buffer for comparison later
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void OnActualSensorNewTData(object sender, InertialSensorData e)
{
//TO DO: If data gets pulled into buffer for comparison, it gets tagged with section ID
//getting acceleration data from accelerometer/gyroscope
const double angularConst = Math.PI / (16.4 * 180.0);
double xAcc = e.AccelerationAsVMD3.X;
double yAcc = e.AccelerationAsVMD3.Y;
double zAcc = e.AccelerationAsVMD3.Z;
double xRot = (double)e.gyropscopes[0] * angularConst;
double yRot = (double)e.gyropscopes[1] * angularConst;
double zRot = (double)e.gyropscopes[2] * angularConst;
double[] tempAngularActualAcc = new double[] { xRot, yRot, zRot };
double[] tempActualAcc = new double[] { xAcc, yAcc, zAcc };
AccelerationTime tempActualAccTime = new AccelerationTime();
tempActualAccTime.setVal(tempActualAcc, tempAngularActualAcc, e.NowInTicks);
if (!LastVirtualFiltered)
{
actualAcc.Enqueue(tempActualAccTime);
}
}
private void MyFunctionToDealWithGettingData(object sender, InertialSensorData e)
{
const double angularConst = Math.PI / (16.4 * 180);
//getting acceleration data from sensors
double xAcc = (double)e.Accelarometers[0] / 2080;
double yAcc = (double)e.Accelarometers[1] / 2080;
double zAcc = (double)e.Accelarometers[2] / 2080;
double xRot = (double)e.gyropscopes[0] * angularConst;
double yRot = (double)e.gyropscopes[1] * angularConst;
double zRot = (double)e.gyropscopes[2] * angularConst;
double[] tempAngularActualAcc = new double[] { xRot, yRot, zRot };
double[] tempActualAcc = new double[] { xAcc, yAcc, zAcc };
AccelerationTime tempActualAccTime = new AccelerationTime();
tempActualAccTime.setVal(tempActualAcc, tempAngularActualAcc, e.NowInTicks);
actualAcc.Enqueue(tempActualAccTime);
}
public InertialSensorData(InertialSensorData c)
{
this.accelarometers = new short[c.accelarometers.Length];
for (int i = 0; i < this.accelarometers.Length; i++)
{
this.accelarometers[i] = c.accelarometers[i];
}
this.gyropscopes = new short[c.gyropscopes.Length];
for (int i = 0; i < this.gyropscopes.Length; i++)
{
this.gyropscopes[i] = c.gyropscopes[i];
}
this.quaternion = new int[c.quaternion.Length];
for (int i = 0; i < this.quaternion.Length; i++)
{
this.quaternion[i] = c.quaternion[i];
}
this.NowInTicks = c.NowInTicks;
this.section = c.section;
}
public void OnISDNewTData(object sender, InertialSensorData e)
{
this.ISDQuatQueue.Add(e.QuaternionAsQMD3);
}
