1 /* 2 * Copyright (c) 2021 Huawei Device Co., Ltd. 3 * Licensed under the Apache License, Version 2.0 (the "License"); 4 * you may not use this file except in compliance with the License. 5 * You may obtain a copy of the License at 6 * 7 * http://www.apache.org/licenses/LICENSE-2.0 8 * 9 * Unless required by applicable law or agreed to in writing, software 10 * distributed under the License is distributed on an "AS IS" BASIS, 11 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. 12 * See the License for the specific language governing permissions and 13 * limitations under the License. 14 */ 15 16 #ifndef SENSOR_ALGORITHM_H 17 #define SENSOR_ALGORITHM_H 18 19 #include <cstdint> 20 #include <vector> 21 22 class SensorAlgorithm { 23 public: 24 SensorAlgorithm() = default; 25 ~SensorAlgorithm() = default; 26 27 int32_t createQuaternion(std::vector<float> rotationVector, std::vector<float> &quaternion); 28 29 int32_t transformCoordinateSystem(std::vector<float> inRotationMatrix, int32_t axisX, 30 int32_t axisY, std::vector<float> &outRotationMatrix); 31 32 int32_t getAltitude(float seaPressure, float currentPressure, float *altitude); 33 34 int32_t getGeomagneticDip(std::vector<float> inclinationMatrix, float *geomagneticDip); 35 36 int32_t getAngleModify(std::vector<float> currotationMatrix, std::vector<float> prerotationMatrix, 37 std::vector<float> &angleChange); 38 39 int32_t getDirection(std::vector<float> rotationMatrix, std::vector<float> &rotationAngle); 40 41 int32_t createRotationMatrix(std::vector<float> rotationVector, std::vector<float> &rotationMatrix); 42 43 int32_t createRotationAndInclination(std::vector<float> gravity, std::vector<float> geomagnetic, 44 std::vector<float> &rotationMatrix, std::vector<float> &inclinationMatrix); 45 private: 46 int32_t transformCoordinateSystemImpl(std::vector<float> inRotationMatrix, int32_t axisX, 47 int32_t axisY, std::vector<float> &outRotationMatrix); 48 static constexpr int32_t QUATERNION_LENGTH = 4; 49 static constexpr int32_t ROTATION_VECTOR_LENGTH = 3; 50 static constexpr int32_t THREE_DIMENSIONAL_MATRIX_LENGTH = 9; 51 static constexpr int32_t FOUR_DIMENSIONAL_MATRIX_LENGTH = 16; 52 static constexpr float GRAVITATIONAL_ACCELERATION = 9.81f; 53 static constexpr float RECIPROCAL_COEFFICIENT = 5.255f; 54 static constexpr float ZERO_PRESSURE_ALTITUDE = 44330.0f; 55 }; 56 #endif // SENSOR_ALGORITHM_H 57