public QuaternionSample(OrientationSensorReading orientationSensorReading, DateTimeOffset _startDateTime)
{
this.MeasurementTime = orientationSensorReading.Timestamp.Subtract(_startDateTime);
this.AngleW = orientationSensorReading.Quaternion.W;
this.CoordinateX = orientationSensorReading.Quaternion.X;
this.CoordinateY = orientationSensorReading.Quaternion.Y;
this.CoordinateZ = orientationSensorReading.Quaternion.Z;
}
static Matrix ConvertToMatrix(OrientationSensorReading reading)
{
return new Matrix
{
Xx = reading.RotationMatrix.M11,
Xy = reading.RotationMatrix.M12,
Xz = reading.RotationMatrix.M13,
Yx = reading.RotationMatrix.M21,
Yy = reading.RotationMatrix.M22,
Yz = reading.RotationMatrix.M23,
Zx = reading.RotationMatrix.M31,
Zy = reading.RotationMatrix.M32,
Zz = reading.RotationMatrix.M33
};
}
public static void SetReadingText(TextBlock textBlock, OrientationSensorReading reading)
{
SensorQuaternion quaternion = reading.Quaternion; // get a reference to the object to avoid re-creating it for each access
string quaternionReport = string.Format("W: {0,5:0.00}, X: {1,5:0.00}, Y: {2,5:0.00}, Z: {3,5:0.00}",
quaternion.W, quaternion.X, quaternion.Y, quaternion.Z);
SensorRotationMatrix rotationMatrix = reading.RotationMatrix;
string rotationMatrixReport = string.Format(
"M11: {0,5:0.00}, M12: {1,5:0.00}, M13: {2,5:0.00}\n" +
"M21: {3,5:0.00}, M22: {4,5:0.00}, M23: {5,5:0.00}\n" +
"M31: {6,5:0.00}, M32: {7,5:0.00}, M33: {8,5:0.00}",
rotationMatrix.M11, rotationMatrix.M12, rotationMatrix.M13,
rotationMatrix.M21, rotationMatrix.M22, rotationMatrix.M23,
rotationMatrix.M31, rotationMatrix.M32, rotationMatrix.M33);
string yawAccuracyReport;
switch (reading.YawAccuracy)
{
case MagnetometerAccuracy.Unknown:
yawAccuracyReport = "unknown";
break;
case MagnetometerAccuracy.Unreliable:
yawAccuracyReport = "unreliable";
break;
case MagnetometerAccuracy.Approximate:
yawAccuracyReport = "approximate";
break;
case MagnetometerAccuracy.High:
yawAccuracyReport = "high";
break;
default:
yawAccuracyReport = "other";
break;
}
textBlock.Text = "Quaternion:\n" + quaternionReport + "\n\n" +
"Rotation Matrix:\n" + rotationMatrixReport + "\n\n" +
"Yaw Accuracy:\n" + yawAccuracyReport;
}
internal OrientationSensorReadingChangedEventArgs(OrientationSensorReading reading)
{
Reading = reading;
}
public void setOrientationSensor(OrientationSensorReading reading)
{
//this. = reading.
}
//################################################## Quaternion #####################################################
/// <summary>
/// Adds a new orientation sensor reading into the active orientation sensor reading list.
/// </summary>
/// <param name="orientationSensorReading"></param>
public void AddOrientationSensorReading(OrientationSensorReading orientationSensorReading)
{
if (orientationSensorReading != null)
{
if (_startDateTime.CompareTo(DateTimeOffset.MinValue) == 0)
{
_startDateTime = orientationSensorReading.Timestamp;
}
this.AddQuaternionSample(new QuaternionSample(orientationSensorReading, _startDateTime));
}
}
