se.hendeby.sensordata

Class EstimateOrientation

java.lang.Object

se.hendeby.sensordata.EstimateOrientation

public class EstimateOrientation
extends java.lang.Object

An orientation estimation implementation The implemented orientation estimation algorithm is a java version of the MARG orientation filter by Sebastian Madgwick, for details see: http://www.x-io.co.uk/open-source-imu-and-ahrs-algorithms/

Constructor Summary

Constructors

Constructor and Description
EstimateOrientation(SensorDataReader server) Constructor

Method Summary

Modifier and Type	Method and Description
protected void	finalize() Destructor.
double[]	getQuat() Extract the current orientation.
void	start() Start up the server, the phone view, and start filtering.
boolean	status() Status of the orientation estimation.
void	stop() Stop the orientation estimation.

Methods inherited from class java.lang.Object

clone, equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

EstimateOrientation

public EstimateOrientation(SensorDataReader server)

Constructor

Parameters:

server - A SensorDataReader that will provide the measurements.

Method Detail

start

public void start()
           throws java.io.IOException

Start up the server, the phone view, and start filtering.

Throws:

java.io.IOException - Throws an IOException on I/O errors.

status

public boolean status()

Status of the orientation estimation.

Returns:

True if the server is up and running.

getQuat

public double[] getQuat()

Extract the current orientation.

Returns:

The current orientation as a normalized quaternion.

stop

public void stop()
          throws java.io.IOException

Stop the orientation estimation.

Throws:

java.io.IOException - An IOException are thrown on I/O errors.

finalize

protected void finalize()
                 throws java.lang.Throwable

Destructor. Kill the orientation estimation on destruction.

Overrides:

finalize in class java.lang.Object

Throws:

java.lang.Throwable