Merge pull request #26 from KalebKE/v1.2.1

V1.2.1

Author: KalebKE

build.gradle

@@ -6,7 +6,7 @@ buildscript {
         google()
     }
     dependencies {
-        classpath 'com.android.tools.build:gradle:3.0.1'
+        classpath 'com.android.tools.build:gradle:3.2.1'
         classpath 'com.github.dcendents:android-maven-gradle-plugin:1.5'
     }
 }

fsensor/build.gradle

@@ -4,18 +4,18 @@ apply plugin: 'com.github.dcendents.android-maven'
 group='com.github.KalebKE'
 
 android {
-    compileSdkVersion 26
-    buildToolsVersion '26.0.2'
+    compileSdkVersion 28
+    buildToolsVersion '28.0.3'
 
     lintOptions {
         abortOnError false
     }
 
     defaultConfig {
         minSdkVersion 14
-        targetSdkVersion 26
-        versionCode 5
-        versionName "1.1.5"
+        targetSdkVersion 28
+        versionCode 6
+        versionName "1.2.1"
 
         testInstrumentationRunner "android.support.test.runner.AndroidJUnitRunner"
 
@@ -29,11 +29,16 @@ android {
 }
 
 dependencies {
-    compile fileTree(dir: 'libs', include: ['*.jar'])
-    androidTestCompile('com.android.support.test.espresso:espresso-core:2.2.2', {
+    implementation fileTree(dir: 'libs', include: ['*.jar'])
+    implementation 'com.android.support:support-annotations:28.0.0'
+
+    androidTestImplementation('com.android.support.test.espresso:espresso-core:2.2.2', {
         exclude group: 'com.android.support', module: 'support-annotations'
     })
-    testCompile 'junit:junit:4.12'
+    testImplementation 'junit:junit:4.12'
+
+    api files('libs/commons-math3-3.6.1.jar')
 
-    compile files('libs/commons-math3-3.6.1.jar')
+    api 'io.reactivex.rxjava2:rxandroid:2.1.0'
+    api 'io.reactivex.rxjava2:rxjava:2.x.x'
 }

fsensor/src/main/java/com/kircherelectronics/fsensor/BaseFilter.java

@@ -1,5 +1,21 @@
 package com.kircherelectronics.fsensor;
 
+/*
+ * Copyright 2018, Kircher Electronics, LLC
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *   http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
 /**
  * Created by kaleb on 4/1/18.
  */

fsensor/src/main/java/com/kircherelectronics/fsensor/filter/averaging/AveragingFilter.java

@@ -1,13 +1,13 @@
 package com.kircherelectronics.fsensor.filter.averaging;
 
 /*
- * Copyright 2017, Kircher Electronics, LLC
+ * Copyright 2018, Kircher Electronics, LLC
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
  * You may obtain a copy of the License at
  *
- *     http://www.apache.org/licenses/LICENSE-2.0
+ *   http://www.apache.org/licenses/LICENSE-2.0
  *
  * Unless required by applicable law or agreed to in writing, software
  * distributed under the License is distributed on an "AS IS" BASIS,
@@ -46,4 +46,6 @@ public void reset() {
         timestamp = 0;
         count = 0;
     }
+
+    public abstract float[] filter(float[] data);
 }

fsensor/src/main/java/com/kircherelectronics/fsensor/filter/averaging/LowPassFilter.java

@@ -1,7 +1,7 @@
 package com.kircherelectronics.fsensor.filter.averaging;
 
 /*
- * Copyright 2017, Kircher Electronics, LLC
+ * Copyright 2018, Kircher Electronics, LLC
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.

fsensor/src/main/java/com/kircherelectronics/fsensor/filter/averaging/MeanFilter.java

@@ -4,7 +4,7 @@
 import java.util.Arrays;
 
 /*
- * Copyright 2017, Kircher Electronics, LLC
+ * Copyright 2018, Kircher Electronics, LLC
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -81,7 +81,12 @@ public float[] filter(float[] data) {
             values.removeFirst();
         }
 
-        output = getMean(values);
+        if(!values.isEmpty()) {
+            output = getMean(values);
+        } else {
+            output = new float[data.length];
+            System.arraycopy(data, 0, output, 0, data.length);
+        }
 
         return output;
     }
@@ -98,7 +103,7 @@ public float[] getOutput() {
      * @return the mean of the data set.
      */
     private float[] getMean(ArrayDeque<float[]> data) {
-        float[] mean = new float[3];
+        float[] mean = new float[data.getFirst().length];
 
         for (float[] axis : data) {
             for (int i = 0; i < axis.length; i++) {

fsensor/src/main/java/com/kircherelectronics/fsensor/filter/averaging/MedianFilter.java

@@ -6,7 +6,7 @@
 import java.util.Arrays;
 
 /*
- * Copyright 2017, Kircher Electronics, LLC
+ * Copyright 2018, Kircher Electronics, LLC
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -89,7 +89,12 @@ public float[] filter(float[] data) {
             values.removeFirst();
         }
 
-        output = getMean(values);
+        if(!values.isEmpty()) {
+            output = getMean(values);
+        } else {
+            output = new float[data.length];
+            System.arraycopy(data, 0, output, 0, data.length);
+        }
 
         return output;
     }
@@ -106,9 +111,9 @@ public float[] getOutput() {
      * @return the mean of the data set.
      */
     private float[] getMean(ArrayDeque<float[]> data) {
-        float[] mean = new float[3];
+        float[] mean = new float[data.getFirst().length];
 
-        double[][] values = new double[3][data.size()];
+        double[][] values = new double[data.getFirst().length][data.size()];
         int index = 0;
 
         for (float[] axis : data) {

fsensor/src/main/java/com/kircherelectronics/fsensor/filter/gyroscope/OrientationGyroscope.java

@@ -1,14 +1,19 @@
 package com.kircherelectronics.fsensor.filter.gyroscope;
 
-import android.hardware.SensorManager;
+import android.util.Log;
 
 import com.kircherelectronics.fsensor.BaseFilter;
 import com.kircherelectronics.fsensor.util.rotation.RotationUtil;
 
 import org.apache.commons.math3.complex.Quaternion;
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder;
+
+import java.util.Arrays;
 
 /*
- * Copyright 2017, Kircher Electronics, LLC
+ * Copyright 2018, Kircher Electronics, LLC
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -79,7 +84,7 @@
  */
 public class OrientationGyroscope extends BaseFilter {
 
-    private static final String tag = OrientationGyroscope.class.getSimpleName();
+    private static final String TAG = OrientationGyroscope.class.getSimpleName();
     private static final float NS2S = 1.0f / 1000000000.0f;
     private static final float EPSILON = 0.000000001f;
     private Quaternion rotationVectorGyroscope;
@@ -105,34 +110,23 @@ public float[] getOutput() {
      * @return An orientation vector -> @link SensorManager#getOrientation(float[], float[])}
      */
     public float[] calculateOrientation(float[] gyroscope, long timestamp) {
-
-        if (rotationVectorGyroscope != null) {
+        if (isBaseOrientationSet()) {
 
             if (this.timestamp != 0) {
                 final float dT = (timestamp - this.timestamp) * NS2S;
                 rotationVectorGyroscope = RotationUtil.integrateGyroscopeRotation(rotationVectorGyroscope, gyroscope, dT, EPSILON);
-            }
-
-            this.timestamp = timestamp;
-
-            // Now we get a structure we can pass to get a rotation matrix, and then
-            // an orientation vector from Android.
-
-            float[] fusedVector = new float[4];
-
-            fusedVector[0] = (float) rotationVectorGyroscope.getVectorPart()[0];
-            fusedVector[1] = (float) rotationVectorGyroscope.getVectorPart()[1];
-            fusedVector[2] = (float) rotationVectorGyroscope.getVectorPart()[2];
-            fusedVector[3] = (float) rotationVectorGyroscope.getScalarPart();
 
-            // rotation matrix from gyro data
-            float[] fusedMatrix = new float[9];
+                Rotation rotation = new Rotation(rotationVectorGyroscope.getQ0(), rotationVectorGyroscope.getQ1(), rotationVectorGyroscope.getQ2(),
+                        rotationVectorGyroscope.getQ3(), true);
 
-            // We need a rotation matrix so we can get the orientation vector
-            SensorManager.getRotationMatrixFromVector(fusedMatrix, fusedVector);
+                try {
+                    output = doubleToFloat(rotation.getAngles(RotationOrder.XYZ, RotationConvention.VECTOR_OPERATOR));
+                } catch(Exception e) {
+                    Log.d(TAG, "", e);
+                }
+            }
 
-            // Get the OrientationFused
-            SensorManager.getOrientation(fusedMatrix, output);
+            this.timestamp = timestamp;
 
             return output;
         } else {
@@ -160,6 +154,16 @@ public void reset() {
     }
 
     public boolean isBaseOrientationSet() {
-        return !(rotationVectorGyroscope == null);
+        return rotationVectorGyroscope != null;
+    }
+
+    private static float[] doubleToFloat(double[] values) {
+        float[] f = new float[values.length];
+
+        for(int i = 0; i < f.length; i++){
+            f[i] = (float) values[i];
+        }
+
+        return f;
     }
 }

fsensor/src/main/java/com/kircherelectronics/fsensor/filter/gyroscope/fusion/OrientationFused.java

@@ -5,7 +5,7 @@
 import org.apache.commons.math3.complex.Quaternion;
 
 /*
- * Copyright 2017, Kircher Electronics, LLC
+ * Copyright 2018, Kircher Electronics, LLC
  *
  * Licensed under the Apache License, Version 2.0 (the "License");
  * you may not use this file except in compliance with the License.
@@ -63,7 +63,7 @@ public void reset() {
     }
 
     public boolean isBaseOrientationSet() {
-        return !(rotationVectorGyroscope == null);
+        return rotationVectorGyroscope != null;
     }
 
     /**
@@ -86,15 +86,6 @@ public void setTimeConstant(float timeConstant) {
      */
     public abstract float[] calculateFusedOrientation(float[] gyroscope, long timestamp, float[] acceleration, float[] magnetic);
 
-    /**
-     * Calculate the fused orientation of the device.
-     * @param gyroscope the gyroscope measurements.
-     * @param timestamp the gyroscope timestamp
-     * @param orientation an estimation of device orientation.
-     * @return the fused orientation estimation.
-     */
-    public abstract float[] calculateFusedOrientation(float[] gyroscope, long timestamp, float[] orientation);
-
     public void setBaseOrientation(Quaternion baseOrientation) {
             rotationVectorGyroscope = baseOrientation;
     }