// onOrientationData() is called whenever the Myo device provides its current orientation, which is represented
// as a unit quaternion.
void onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
{
// wait flag tells us we must wait for user
if (wait) {
if (timestamp > t) {
wait = false;
}
}
else if (setup_stage == 4){
// initialization complete
myo::Vector3<float> vec(1, 0, 0);
vec = myo::rotate(quat, vec);
float x = v.dot(v.proj(vec, vec_left), vec_left);
float y = v.dot(v.proj(vec, vec_up), vec_up);
maybeDragMouse(x, y);
}
else if (setup_stage == 3){
// create coordinate system
printf("vec_center = (%f,%f,%f)\n", vec_center.x(), vec_center.y(), vec_center.z());
printf("rough vec_up = (%f,%f,%f)\n", vec_up.x(), vec_up.y(), vec_up.z());
// make vec_up orthogonal to vec_center
//vec_up = vecNormalize(closestOrthogonalVector(vec_up, vec_center));
//printf("clean vec_up = (%f,%f,%f)\n", vec_up.x(), vec_up.y(), vec_up.z());
// left side of person wearing the Myo
vec_left = v.cross(vec_center, vec_up);
printf("vec_left = (%f,%f,%f)\n", vec_left.x(), vec_left.y(), vec_left.z());
printf("vec_up . vec_center = %f\n", v.dot(vec_up, vec_center));
printf("vec_up . vec_left = %f\n", v.dot(vec_up, vec_left));
printf("vec_left . vec_center = %f\n", v.dot(vec_left, vec_center));
setup_stage++;
}
else if (setup_stage == 2) {
// measure vec_up
myo::Vector3<float> vec(1, 0, 0);
vec_center = myo::rotate(quat, vec);
printf("Measured.\n");
setup_stage++;
}
else if (setup_stage == 1) {
// measure vec_center
myo::Vector3<float> vec(1, 0, 0);
vec_up = myo::rotate(quat, vec);
printf("Measured.\n");
printf("Point at center of screen. Measuring in 3 seconds.\n");
wait = true;
t = timestamp + 3000000;
setup_stage++;
}
else if (setup_stage == 0) {
// waiting for user to be ready
printf("Point straight up. Measuring in 3 seconds.\n");
wait = true;
t = timestamp + 3000000;
setup_stage++;
}
}
void onGyroscopeData (myo::Myo * myo, uint64_t timestamp, const myo::Vector3< float > & gyro) {
gyroX = gyro.x();
gyroY = gyro.y();
gyroZ = gyro.z();
}
void onAccelerometerData (myo::Myo* myo, uint64_t timestamp, const myo::Vector3< float > & accel) {
accelX = accel.x();
accelY = accel.y();
accelZ = accel.z();
count+=1;
}
jobject getJavaVector3(JNIEnv * env, myo::Vector3<float> vector3) {
jclass vector3Class = env->FindClass("net/johnluetke/myojni/jni/Vector3");
jmethodID vector3Constructor = env->GetMethodID(vector3Class, "<init>", "(DDD)V");
jobject javaVector3 = env->NewObject(vector3Class,
vector3Constructor,
vector3.x(),
vector3.y(),
vector3.z());
return javaVector3;
}
void Filter::onAccelerometerData(myo::Myo *myo, uint64_t timestamp, const myo::Vector3< float > &accel){
accelX_old = accelX;
accelY_old = accelY;
accelZ_old = accelZ;
using std::atan2;
using std::asin;
using std::sqrt;
using std::cos;
using std::sin;
using std::max;
using std::min;
//shift the coordinate system in order to cancel out gravity in the right axis
//roll = roll - roll_i;
//pitch = pitch - pitch_i;
//yaw = yaw - yaw_i;
//accelX = -1 * accel.y();
//accelY = -1 * accel.z();
//accelZ = accel.x();
// pitch = alpha
// yaw = beta
// roll = gamma
//accelX *= cos(yaw) * cos(roll) + cos(yaw) * sin(roll) - sin(yaw);
//accelY *= cos(roll) * sin(pitch) * sin(yaw) - cos(pitch) * sin(roll) + cos(pitch) * cos(roll) + sin(pitch) * sin(yaw) * sin(roll) + cos(yaw) * sin(pitch);
//accelZ *= cos(pitch) * cos(roll) * sin(yaw) + sin(pitch) * sin(roll) - cos(roll) * sin(pitch) + cos(pitch) * sin(yaw) * sin(roll) + cos(pitch) * cos(yaw);
if (fabs(accel.x() - accelX_old) > 0.01)
accelX = accel.x();
if (fabs(accel.y() - accelY_old) > 0.01)
accelY = accel.y();
if (fabs(accel.z() - accelZ_old) > 0.01)
accelZ = accel.z() - 1;
}
// units of deg/s
void onGyroscopeData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& gyro)
{
g_x = gyro.x();
g_y = gyro.y();
g_z = gyro.z();
osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
p << osc::BeginMessage("/myo/gyro")
<< MAC
<< g_x << g_y << g_z << osc::EndMessage;
transmitSocket->Send(p.Data(), p.Size());
}
// units of g
void onAccelerometerData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& accel)
{
a_x = accel.x();
a_y = accel.y();
a_z = accel.z();
osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
p << osc::BeginMessage("/myo/accel")
<< MAC
<< a_x << a_y << a_z << osc::EndMessage;
transmitSocket->Send(p.Data(), p.Size());
}
void DataCollector::onAccelerometerData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& accel)
{
xAccel = accel.x();
yAccel = accel.y();
zAccel = accel.z();
}
void onAccelerometerData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float> &accel) {
accx = accel.x() * 40;
accy = accel.y() * 40;
accz = accel.z() * 40;
}
void onGyroscopeData(myo::Myo* myo, uint64_t timestamp, const myo::Vector3<float>& vec)
{
const int count = 3;
float values[count] = { values[0] = vec.x(), values[1] = vec.y(), values[2] = vec.z() };
this->addEventData(myo, timestamp, "gyroscope", new VectorEventData(values, count));
}
void sendData(myo::Vector3<double> curPos) {
fprintf(hFile, "%d\t%d\t%d\t%f\t%f\t%f\t%c\t%s\n", yaw_w, pitch_w, roll_w,
curPos.x(), curPos.y(), curPos.z(), (whichArm == myo::armLeft ? 'L' : 'R'), currentPose.toString().c_str());
fflush(hFile);
}