// https://github.com/sfwa/TRICAL
public TRICAL(float[] expectedField, float norm, float noise = 1.5f)
{
handle = TRICALWrapper.CreateTRICAL();
TRICALWrapper.TRICAL_init(handle);
TRICALWrapper.TRICAL_norm_set(handle, norm);
TRICALWrapper.TRICAL_noise_set(handle, noise);
ExpectedField = expectedField;
}
public float[] Update(float[] raw)
{
TRICALWrapper.TRICAL_estimate_update(handle, raw, ExpectedField);
float[] calibrated_reading = new float[3];
TRICALWrapper.TRICAL_measurement_calibrate(handle, raw, calibrated_reading);
calibrated_reading[0] = TRICALWrapper.TRICAL_cx_get();
calibrated_reading[1] = TRICALWrapper.TRICAL_cy_get();
calibrated_reading[2] = TRICALWrapper.TRICAL_cz_get();
return(calibrated_reading);
}
public float GetNorm()
{
return(TRICALWrapper.TRICAL_norm_get(handle));
}
