Address comments
This commit is contained in:
german
parent
2d207ec609
commit
e6fc3b5662
|
|
@ -2,43 +2,26 @@
|
|||
|
||||
namespace InputCommon {
|
||||
|
||||
MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd) : kp(new_kp), ki(new_ki), kd(new_kd) {
|
||||
accel = {};
|
||||
gyro = {};
|
||||
gyro_drift = {};
|
||||
gyro_threshold = 0;
|
||||
rotations = {};
|
||||
MotionInput::MotionInput(f32 new_kp, f32 new_ki, f32 new_kd)
|
||||
: kp(new_kp), ki(new_ki), kd(new_kd), quat{{0, 0, -1}, 0} {}
|
||||
|
||||
quat.w = 0;
|
||||
quat.xyz[0] = 0;
|
||||
quat.xyz[1] = 0;
|
||||
quat.xyz[2] = -1;
|
||||
|
||||
real_error = {};
|
||||
integral_error = {};
|
||||
derivative_error = {};
|
||||
|
||||
reset_counter = 0;
|
||||
reset_enabled = true;
|
||||
}
|
||||
|
||||
void MotionInput::SetAcceleration(Common::Vec3f acceleration) {
|
||||
void MotionInput::SetAcceleration(const Common::Vec3f& acceleration) {
|
||||
accel = acceleration;
|
||||
}
|
||||
|
||||
void MotionInput::SetGyroscope(Common::Vec3f gyroscope) {
|
||||
void MotionInput::SetGyroscope(const Common::Vec3f& gyroscope) {
|
||||
gyro = gyroscope - gyro_drift;
|
||||
if (gyro.Length2() < gyro_threshold) {
|
||||
gyro = {};
|
||||
}
|
||||
}
|
||||
|
||||
void MotionInput::SetQuaternion(Common::Quaternion<f32> quaternion) {
|
||||
void MotionInput::SetQuaternion(const Common::Quaternion<f32>& quaternion) {
|
||||
quat = quaternion;
|
||||
}
|
||||
|
||||
void MotionInput::SetGyroDrift(Common::Vec3f drift) {
|
||||
drift = gyro_drift;
|
||||
void MotionInput::SetGyroDrift(const Common::Vec3f& drift) {
|
||||
gyro_drift = drift;
|
||||
}
|
||||
|
||||
void MotionInput::SetGyroThreshold(f32 threshold) {
|
||||
|
|
@ -53,11 +36,11 @@ void MotionInput::ResetRotations() {
|
|||
rotations = {};
|
||||
}
|
||||
|
||||
bool MotionInput::IsMoving(f32 sensitivity) {
|
||||
bool MotionInput::IsMoving(f32 sensitivity) const {
|
||||
return gyro.Length2() >= sensitivity || accel.Length() <= 0.9f || accel.Length() >= 1.1f;
|
||||
}
|
||||
|
||||
bool MotionInput::IsCalibrated(f32 sensitivity) {
|
||||
bool MotionInput::IsCalibrated(f32 sensitivity) const {
|
||||
return real_error.Length() > sensitivity;
|
||||
}
|
||||
|
||||
|
|
@ -67,30 +50,30 @@ void MotionInput::UpdateRotation(u64 elapsed_time) {
|
|||
|
||||
void MotionInput::UpdateOrientation(u64 elapsed_time) {
|
||||
// Short name local variable for readability
|
||||
f32 q1 = quat.w, q2 = quat.xyz[0], q3 = quat.xyz[1], q4 = quat.xyz[2];
|
||||
f32 sample_period = elapsed_time / 1000000.0f;
|
||||
f32 q1 = quat.w;
|
||||
f32 q2 = quat.xyz[0];
|
||||
f32 q3 = quat.xyz[1];
|
||||
f32 q4 = quat.xyz[2];
|
||||
const f32 sample_period = elapsed_time / 1000000.0f;
|
||||
|
||||
auto normal_accel = accel.Normalized();
|
||||
const auto normal_accel = accel.Normalized();
|
||||
auto rad_gyro = gyro * 3.1415926535f;
|
||||
rad_gyro.z = -rad_gyro.z;
|
||||
|
||||
// Ignore drift correction if acceleration is not present
|
||||
if (normal_accel.Length() == 1.0f) {
|
||||
f32 ax = -normal_accel.x;
|
||||
f32 ay = normal_accel.y;
|
||||
f32 az = -normal_accel.z;
|
||||
f32 vx, vy, vz;
|
||||
Common::Vec3f new_real_error;
|
||||
const f32 ax = -normal_accel.x;
|
||||
const f32 ay = normal_accel.y;
|
||||
const f32 az = -normal_accel.z;
|
||||
|
||||
// Estimated direction of gravity
|
||||
vx = 2.0f * (q2 * q4 - q1 * q3);
|
||||
vy = 2.0f * (q1 * q2 + q3 * q4);
|
||||
vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
|
||||
const f32 vx = 2.0f * (q2 * q4 - q1 * q3);
|
||||
const f32 vy = 2.0f * (q1 * q2 + q3 * q4);
|
||||
const f32 vz = q1 * q1 - q2 * q2 - q3 * q3 + q4 * q4;
|
||||
|
||||
// Error is cross product between estimated direction and measured direction of gravity
|
||||
new_real_error.x = ay * vz - az * vy;
|
||||
new_real_error.y = az * vx - ax * vz;
|
||||
new_real_error.x = ax * vy - ay * vx;
|
||||
const Common::Vec3f new_real_error = {ay * vz - az * vy, az * vx - ax * vz,
|
||||
ax * vy - ay * vx};
|
||||
|
||||
derivative_error = new_real_error - real_error;
|
||||
real_error = new_real_error;
|
||||
|
|
@ -108,15 +91,14 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
|
|||
rad_gyro += kd * derivative_error;
|
||||
}
|
||||
|
||||
f32 gx = rad_gyro.y;
|
||||
f32 gy = rad_gyro.x;
|
||||
f32 gz = rad_gyro.z;
|
||||
const f32 gx = rad_gyro.y;
|
||||
const f32 gy = rad_gyro.x;
|
||||
const f32 gz = rad_gyro.z;
|
||||
|
||||
// Integrate rate of change of quaternion
|
||||
f32 pa, pb, pc;
|
||||
pa = q2;
|
||||
pb = q3;
|
||||
pc = q4;
|
||||
const f32 pa = q2;
|
||||
const f32 pb = q3;
|
||||
const f32 pc = q4;
|
||||
q1 = q1 + (-q2 * gx - q3 * gy - q4 * gz) * (0.5f * sample_period);
|
||||
q2 = pa + (q1 * gx + pb * gz - pc * gy) * (0.5f * sample_period);
|
||||
q3 = pb + (q1 * gy - pa * gz + pc * gx) * (0.5f * sample_period);
|
||||
|
|
@ -129,41 +111,33 @@ void MotionInput::UpdateOrientation(u64 elapsed_time) {
|
|||
quat = quat.Normalized();
|
||||
}
|
||||
|
||||
std::array<Common::Vec3f, 3> MotionInput::GetOrientation() {
|
||||
std::array<Common::Vec3f, 3> orientation = {};
|
||||
Common::Quaternion<float> quad;
|
||||
std::array<Common::Vec3f, 3> MotionInput::GetOrientation() const {
|
||||
const Common::Quaternion<float> quad{.xyz = {-quat.xyz[1], -quat.xyz[0], -quat.w},
|
||||
.w = -quat.xyz[2]};
|
||||
const std::array<float, 16> matrix4x4 = quad.ToMatrix();
|
||||
|
||||
quad.w = -quat.xyz[2];
|
||||
quad.xyz[0] = -quat.xyz[1];
|
||||
quad.xyz[1] = -quat.xyz[0];
|
||||
quad.xyz[2] = -quat.w;
|
||||
|
||||
std::array<float, 16> matrix4x4 = quad.ToMatrix();
|
||||
|
||||
orientation[0] = Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]);
|
||||
orientation[1] = Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]);
|
||||
orientation[2] = Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10]);
|
||||
|
||||
return orientation;
|
||||
return {Common::Vec3f(matrix4x4[0], matrix4x4[1], matrix4x4[2]),
|
||||
Common::Vec3f(matrix4x4[4], matrix4x4[5], matrix4x4[6]),
|
||||
Common::Vec3f(matrix4x4[8], matrix4x4[9], matrix4x4[10])};
|
||||
}
|
||||
|
||||
Common::Vec3f MotionInput::GetAcceleration() {
|
||||
Common::Vec3f MotionInput::GetAcceleration() const {
|
||||
return accel;
|
||||
}
|
||||
|
||||
Common::Vec3f MotionInput::GetGyroscope() {
|
||||
Common::Vec3f MotionInput::GetGyroscope() const {
|
||||
return gyro;
|
||||
}
|
||||
|
||||
Common::Quaternion<f32> MotionInput::GetQuaternion() {
|
||||
Common::Quaternion<f32> MotionInput::GetQuaternion() const {
|
||||
return quat;
|
||||
}
|
||||
|
||||
Common::Vec3f MotionInput::GetRotations() {
|
||||
Common::Vec3f MotionInput::GetRotations() const {
|
||||
return rotations;
|
||||
}
|
||||
|
||||
void MotionInput::resetOrientation() {
|
||||
void MotionInput::ResetOrientation() {
|
||||
if (!reset_enabled) {
|
||||
return;
|
||||
}
|
||||
|
|
@ -182,4 +156,4 @@ void MotionInput::resetOrientation() {
|
|||
reset_counter = 0;
|
||||
}
|
||||
}
|
||||
} // namespace InputCommon
|
||||
} // namespace InputCommon
|
||||
|
|
|
|||
|
|
@ -14,10 +14,16 @@ class MotionInput {
|
|||
public:
|
||||
MotionInput(f32 new_kp, f32 new_ki, f32 new_kd);
|
||||
|
||||
void SetAcceleration(Common::Vec3f acceleration);
|
||||
void SetGyroscope(Common::Vec3f acceleration);
|
||||
void SetQuaternion(Common::Quaternion<f32> quaternion);
|
||||
void SetGyroDrift(Common::Vec3f drift);
|
||||
MotionInput(const MotionInput&) = default;
|
||||
MotionInput& operator=(const MotionInput&) = default;
|
||||
|
||||
MotionInput(MotionInput&&) = default;
|
||||
MotionInput& operator=(MotionInput&&) = default;
|
||||
|
||||
void SetAcceleration(const Common::Vec3f& acceleration);
|
||||
void SetGyroscope(const Common::Vec3f& acceleration);
|
||||
void SetQuaternion(const Common::Quaternion<f32>& quaternion);
|
||||
void SetGyroDrift(const Common::Vec3f& drift);
|
||||
void SetGyroThreshold(f32 threshold);
|
||||
|
||||
void EnableReset(bool reset);
|
||||
|
|
@ -26,23 +32,23 @@ public:
|
|||
void UpdateRotation(u64 elapsed_time);
|
||||
void UpdateOrientation(u64 elapsed_time);
|
||||
|
||||
std::array<Common::Vec3f, 3> GetOrientation();
|
||||
Common::Vec3f GetAcceleration();
|
||||
Common::Vec3f GetGyroscope();
|
||||
Common::Vec3f GetRotations();
|
||||
Common::Quaternion<f32> GetQuaternion();
|
||||
std::array<Common::Vec3f, 3> GetOrientation() const;
|
||||
Common::Vec3f GetAcceleration() const;
|
||||
Common::Vec3f GetGyroscope() const;
|
||||
Common::Vec3f GetRotations() const;
|
||||
Common::Quaternion<f32> GetQuaternion() const;
|
||||
|
||||
bool IsMoving(f32 sensitivity);
|
||||
bool IsCalibrated(f32 sensitivity);
|
||||
bool IsMoving(f32 sensitivity) const;
|
||||
bool IsCalibrated(f32 sensitivity) const;
|
||||
|
||||
private:
|
||||
void ResetOrientation();
|
||||
|
||||
// PID constants
|
||||
const f32 kp;
|
||||
const f32 ki;
|
||||
const f32 kd;
|
||||
|
||||
private:
|
||||
void resetOrientation();
|
||||
|
||||
// PID errors
|
||||
Common::Vec3f real_error;
|
||||
Common::Vec3f integral_error;
|
||||
|
|
@ -54,9 +60,9 @@ private:
|
|||
Common::Vec3f gyro;
|
||||
Common::Vec3f gyro_drift;
|
||||
|
||||
f32 gyro_threshold;
|
||||
f32 reset_counter;
|
||||
bool reset_enabled;
|
||||
f32 gyro_threshold = 0.0f;
|
||||
f32 reset_counter = 0.0f;
|
||||
bool reset_enabled = true;
|
||||
};
|
||||
|
||||
} // namespace InputCommon
|
||||
|
|
|
|||
Loading…
Reference in New Issue