internal void HandleEvent(libmyo.EventType type, DateTime timestamp, IntPtr evt)
{
switch (type)
{
case libmyo.EventType.Connected:
if (Connected != null)
{
Connected(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Disconnected:
if (Disconnected != null)
{
Disconnected(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.ArmSynced:
if (ArmSynced != null)
{
Arm arm = (Arm)libmyo.event_get_arm(evt);
XDirection xDirection = (XDirection)libmyo.event_get_x_direction(evt);
ArmSynced(this, new ArmSyncedEventArgs(this, timestamp, arm, xDirection));
}
break;
case libmyo.EventType.ArmUnsynced:
if (ArmUnsynced != null)
{
ArmUnsynced(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Orientation:
if (AccelerometerData != null)
{
float x = libmyo.event_get_accelerometer(evt, 0);
float y = libmyo.event_get_accelerometer(evt, 1);
float z = libmyo.event_get_accelerometer(evt, 2);
var accelerometer = new Vector3(x, y, z);
AccelerometerData(this, new AccelerometerDataEventArgs(this, timestamp, accelerometer));
}
if (GyroscopeData != null)
{
float x = libmyo.event_get_gyroscope(evt, 0);
float y = libmyo.event_get_gyroscope(evt, 1);
float z = libmyo.event_get_gyroscope(evt, 2);
var gyroscope = new Vector3(x, y, z);
GyroscopeData(this, new GyroscopeDataEventArgs(this, timestamp, gyroscope));
}
if (OrientationData != null)
{
float x = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.X);
float y = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.Y);
float z = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.Z);
float w = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.W);
var orientation = new Quaternion(x, y, z, w);
OrientationData(this, new OrientationDataEventArgs(this, timestamp, orientation));
}
break;
case libmyo.EventType.Pose:
if (PoseChange != null)
{
var pose = (Pose)libmyo.event_get_pose(evt);
PoseChange(this, new PoseEventArgs(this, timestamp, pose));
}
break;
case libmyo.EventType.Rssi:
if (Rssi != null)
{
var rssi = libmyo.event_get_rssi(evt);
Rssi(this, new RssiEventArgs(this, timestamp, rssi));
}
break;
case libmyo.EventType.Unlocked:
if (Unlocked != null)
{
Unlocked(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Locked:
if (Locked != null)
{
Locked(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Emg:
Dictionary<int, sbyte> emgData = new Dictionary<int, sbyte>();
for(int i = 0; i < 8;i++)
{
emgData[i] = libmyo.event_get_emg(evt, (uint)i);
}
if (Emg != null)
{
Emg(this, new EmgEventArgs(this, timestamp, emgData));
}
break;
}
}
internal void HandleEvent(libmyo.EventType type, DateTime timestamp, IntPtr evt)
{
bool outputEmgData = false;
switch (type)
{
case libmyo.EventType.Connected:
if (Connected != null)
{
Connected(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Disconnected:
if (Disconnected != null)
{
Disconnected(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.ArmSynced:
if (ArmSynced != null)
{
Arm arm = (Arm)libmyo.event_get_arm(evt);
XDirection xDirection = (XDirection)libmyo.event_get_x_direction(evt);
ArmSynced(this, new ArmSyncedEventArgs(this, timestamp, arm, xDirection));
}
break;
case libmyo.EventType.ArmUnsynced:
if (ArmUnsynced != null)
{
ArmUnsynced(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Orientation:
if (AccelerometerData != null)
{
float x = libmyo.event_get_accelerometer(evt, 0);
float y = libmyo.event_get_accelerometer(evt, 1);
float z = libmyo.event_get_accelerometer(evt, 2);
var accelerometer = new Vector3(x, y, z);
AccelerometerData(this, new AccelerometerDataEventArgs(this, timestamp, accelerometer));
}
if (GyroscopeData != null)
{
float x = libmyo.event_get_gyroscope(evt, 0);
float y = libmyo.event_get_gyroscope(evt, 1);
float z = libmyo.event_get_gyroscope(evt, 2);
var gyroscope = new Vector3(x, y, z);
GyroscopeData(this, new GyroscopeDataEventArgs(this, timestamp, gyroscope));
}
if (OrientationData != null)
{
float x = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.X);
float y = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.Y);
float z = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.Z);
float w = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.W);
var orientation = new Quaternion(x, y, z, w);
OrientationData(this, new OrientationDataEventArgs(this, timestamp, orientation));
}
break;
case libmyo.EventType.Pose:
if (PoseChange != null)
{
var pose = (Pose)libmyo.event_get_pose(evt);
PoseChange(this, new PoseEventArgs(this, timestamp, pose));
}
break;
case libmyo.EventType.Rssi:
if (Rssi != null)
{
var rssi = libmyo.event_get_rssi(evt);
Rssi(this, new RssiEventArgs(this, timestamp, rssi));
}
break;
case libmyo.EventType.Emg:
outputEmgData = true;
SetEmgData(evt, timestamp);
break;
case libmyo.EventType.Unlocked:
if (Unlocked != null)
{
Unlocked(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Locked:
if (Locked != null)
{
Locked(this, new MyoEventArgs(this, timestamp));
}
break;
}
if (!outputEmgData && streamEmg)
{
SetEmgData(evt, timestamp);
}
}
public static Vector3 operator *(Quaternion quat, Vector3 vec)
{
var qvec = new Quaternion(vec.X, vec.Y, vec.Z, 0);
var result = quat * qvec * quat.Conjugate();
return new Vector3(result.X, result.Y, result.Z);
}
//
// TODO compound arithmetic operators
//
public static Quaternion Normalize(Quaternion quat)
{
return (quat / quat.Magnitude());
}
/// Calculate the pitch angle represented by the given unit Quaternion.
public static float Pitch(Quaternion quat)
{
return (float)Math.Asin(2.0f * (quat._w * quat._y - quat._z * quat._x));
}
/// Calculate the yaw angle represented by the given unit Quaternion.
public static float Yaw(Quaternion quat)
{
return (float)Math.Atan2(2.0f * (quat._w * quat._z + quat._x * quat._y),
1.0f - 2.0f * (quat._y * quat._y + quat._z * quat._z));
}
/// Calculate the roll angle represented by the given unit Quaternion.
public static float Roll(Quaternion quat)
{
return (float)Math.Atan2(2.0f * (quat._w * quat._x + quat._y * quat._z),
1.0f - 2.0f * (quat._x * quat._x + quat._y * quat._y));
}
void myo_OnOrientationData(object sender, Thalmic.Myo.OrientationDataEventArgs e)
{
lock (_lock) {
_myoQuaternion = e.Orientation;
}
}
public OrientationDataEventArgs(Myo myo, DateTime timestamp, Quaternion orientation)
: base(myo, timestamp)
{
this.Orientation = orientation;
}
internal void HandleEvent(libmyo.EventType type, DateTime timestamp, IntPtr evt)
{
switch (type)
{
case libmyo.EventType.Connected:
if (Connected != null)
{
Connected(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Disconnected:
if (Disconnected != null)
{
Disconnected(this, new MyoEventArgs(this, timestamp));
}
break;
case libmyo.EventType.Orientation:
if (AccelerometerData != null)
{
float x = libmyo.event_get_accelerometer(evt, 0);
float y = libmyo.event_get_accelerometer(evt, 1);
float z = libmyo.event_get_accelerometer(evt, 2);
var accelerometer = new Vector3(x, y, z);
AccelerometerData(this, new AccelerometerDataEventArgs(this, timestamp, accelerometer));
}
if (GyroscopeData != null)
{
float x = libmyo.event_get_gyroscope(evt, 0);
float y = libmyo.event_get_gyroscope(evt, 1);
float z = libmyo.event_get_gyroscope(evt, 2);
var gyroscope = new Vector3(x, y, z);
GyroscopeData(this, new GyroscopeDataEventArgs(this, timestamp, gyroscope));
}
if (OrientationData != null)
{
float x = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.X);
float y = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.Y);
float z = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.Z);
float w = libmyo.event_get_orientation(evt, libmyo.OrientationIndex.W);
var orientation = new Quaternion(x, y, z, w);
OrientationData(this, new OrientationDataEventArgs(this, timestamp, orientation));
}
break;
case libmyo.EventType.Pose:
if (PoseChange != null)
{
var pose = (Pose)libmyo.event_get_pose(evt);
PoseChange(this, new PoseEventArgs(this, timestamp, pose));
}
break;
case libmyo.EventType.Rssi:
if (Rssi != null)
{
var rssi = libmyo.event_get_rssi(evt);
Rssi(this, new RssiEventArgs(this, timestamp, rssi));
}
break;
}
}
public OrientationDataEventArgs(Myo myo, DateTime timestamp, Quaternion orientation)
: base(myo, timestamp)
{
this.Orientation = orientation;
}