Added comments and licences.

Author: KalebKE

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

@@ -2,7 +2,25 @@
 
 import com.kircherelectronics.fsensor.filter.BaseFilter;
 
+/*
+ * Copyright 2017, 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.
+ */
+
 /**
+ * A base implementation of an averaging filter.
+ *
  * Created by kaleb on 7/6/17.
  */
 

fsensor/src/main/java/com/kircherelectronics/fsensor/filter/fusion/OrientationKalmanFusion.java

@@ -11,7 +11,45 @@
 
 import java.util.Arrays;
 
+/*
+ * Copyright 2017, 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.
+ */
+
 /**
+ * An implementation of a Kalman filter based orientation sensor fusion.
+ *  * <p>
+ * The filter attempts to fuse magnetometer, gravity and gyroscope
+ * sensors together to produce an accurate measurement of the rotation of the
+ * device.
+ * <p>
+ * The magnetometer and acceleration sensors are used to determine one of the
+ * two orientation estimations of the device. This measurement is subject to the
+ * constraint that the device must not be accelerating and hard and soft-iron
+ * distortions are not present in the local magnetic field.
+ * <p>
+ * The gyroscope is used to determine the second of two orientation estimations
+ * of the device. The gyroscope can have a shorter response time and is not
+ * effected by linear acceleration or magnetic field distortions, however it
+ * experiences drift and has to be compensated periodically by the
+ * acceleration/magnetic sensors to remain accurate.
+ * <p>
+ * Quaternions are used to integrate the measurements of the gyroscope and apply
+ * the rotations to each sensors measurements via Kalman filter. This the
+ * ideal method because quaternions are not subject to many of the singularties
+ * of rotation matrices, such as gimbal lock.
+ * <p>
  * Created by kaleb on 7/6/17.
  */
 

fsensor/src/main/java/com/kircherelectronics/fsensor/linearacceleration/LinearAcceleration.java

@@ -5,21 +5,19 @@
 import java.util.Arrays;
 
 /*
- * Acceleration Explorer
- * Copyright (C) 2013-2015, Kaleb Kircher - Kircher Engineering, LLC
+ * Copyright 2017 Kircher Electronics, LLC
  *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
+ * 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
  *
- *  This program is distributed in the hope that it will be useful,
- *  but WITHOUT ANY WARRANTY; without even the implied warranty of
- *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- *  GNU General Public License for more details.
+ *     http://www.apache.org/licenses/LICENSE-2.0
  *
- *  You should have received a copy of the GNU General Public License
- *  along with this program.  If not, see <http://www.gnu.org/licenses/>.
+ * 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.
  */
 
 /**

fsensor/src/main/java/com/kircherelectronics/fsensor/linearacceleration/LinearAccelerationAveraging.java

@@ -2,7 +2,24 @@
 
 import com.kircherelectronics.fsensor.filter.averaging.AveragingFilter;
 
+/*
+ * Copyright 2017, 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.
+ */
+
 /**
+ * A wrapper for Linear Acceleration filters that are backed by Averaging filters.
  * Created by kaleb on 7/6/17.
  */
 

fsensor/src/main/java/com/kircherelectronics/fsensor/linearacceleration/LinearAccelerationFusion.java

@@ -3,10 +3,27 @@
 import com.kircherelectronics.fsensor.filter.fusion.OrientationFusion;
 import com.kircherelectronics.fsensor.util.Util;
 
+/*
+ * Copyright 2017, 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.
+ */
+
 /**
+ * A wrapper for Linear Acceleration filters that are backed by sensor fusions.
+ *
  * Created by kaleb on 7/6/17.
  */
-
 public class LinearAccelerationFusion extends LinearAcceleration {
 
     public LinearAccelerationFusion(OrientationFusion orientationFusion) {