C++ SensorFusion::GetAcceleration方法代码示例

void InputTestApp::OnIdle()
{
    double curtime = pPlatform->GetAppTime();
	time_t t = time(0);   // get time now
	struct tm * now = localtime(&t);

 //   float  dt      = float(LastUpdate - curtime);
    LastUpdate     = curtime;
    
    if (pBox)
    {
		Vector3f acceldata = SFusion.GetAcceleration();
		Vector3f gyrodata = SFusion.GetAngularVelocity();
		Vector3f magdata = SFusion.GetMagnetometer();	

        Quatf q = SFusion.GetOrientation();
        pBox->SetOrientation(q);

		//fstream outFile;
		//outFile.open("C://Users//Barrett//Documents//oculus_sensor_data.txt");
		// Output the sensor data to the text file
		ofstream outFile("C://Users//Barrett//Documents//oculus_sensor_data.csv", ios::app);
		outFile << \
			now->tm_sec << "," << \
			curtime << "," << \
			acceldata.x << "," << acceldata.y << "," << acceldata.z << "," << \
			gyrodata.x << "," << gyrodata.y << "," << gyrodata.z << "," << \
			magdata.x << "," << magdata.y << "," << magdata.z << "," << \
			q.x << "," << q.y << "," << q.z << q.w << "\n";
		
   // Test Euler conversion, alternative to the above:
   //     Vector3f euler;
   //     SFusion.GetOrientation().GetEulerABC<Axis_Y, Axis_X, Axis_Z, Rotate_CCW, Handed_R>(&euler.y, &euler.x, &euler.z);
   //     Matrix4f mat = Matrix4f::RotationY(euler.y) * Matrix4f::RotationX(euler.x) * Matrix4f::RotationZ(euler.z);
   //  pBox->SetMatrix(mat);    

        // Update titlebar every 20th of a second.
        if ((curtime - LastTitleUpdate) > 0.05f)
        {
            char                          titleBuffer[512];
            SensorDevice::CoordinateFrame coord = SensorDevice::Coord_Sensor;
            if (pSensor)
                coord = pSensor->GetCoordinateFrame();

            OVR_sprintf(titleBuffer, 512, "OVR SensorBox %s %s  Ang: %0.3f",
                        (SFusion.IsGravityEnabled() ?  "" : "[Grav Off]"),
                        (coord == SensorDevice::Coord_HMD) ? "[HMD Coord]" : "",
                        CalcDownAngleDegrees(q));
            pPlatform->SetWindowTitle(titleBuffer);
            LastTitleUpdate = curtime;
        }
    }

    if (pBox2)
    {
        pBox2->SetOrientation(SFusion2.GetOrientation());
    }

    // Render
    int w, h;
    pPlatform->GetWindowSize(&w, &h);

    pRender->SetViewport(0, 0, w, h);

    pRender->Clear();
    pRender->BeginScene();

    pRender->SetProjection(Proj);
    pRender->SetDepthMode(1,1);
    
    Sc.Render(pRender, View);

    pRender->Present();

}

void Output()
{
	cout << "----- Oculus Console -----" << endl;

	if (pHMD)
	{
		cout << " [x] HMD Found" << endl;
	}
	else
	{
		cout << " [ ] HMD Not Found" << endl;
	}

	if (pSensor)
	{
		cout << " [x] Sensor Found" << endl;
	}
	else
	{
		cout << " [ ] Sensor Not Found" << endl;
	}

	cout << "--------------------------" << endl;

	if (InfoLoaded)
        {
		cout << " DisplayDeviceName: " << Info.DisplayDeviceName << endl;
		cout << " ProductName: " << Info.ProductName << endl;
		cout << " Manufacturer: " << Info.Manufacturer << endl;
		cout << " Version: " << Info.Version << endl;
		cout << " HResolution: " << Info.HResolution<< endl;
		cout << " VResolution: " << Info.VResolution<< endl;
		cout << " HScreenSize: " << Info.HScreenSize<< endl;
		cout << " VScreenSize: " << Info.VScreenSize<< endl;
		cout << " VScreenCenter: " << Info.VScreenCenter<< endl;
		cout << " EyeToScreenDistance: " << Info.EyeToScreenDistance << endl;
		cout << " LensSeparationDistance: " << Info.LensSeparationDistance << endl;
		cout << " InterpupillaryDistance: " << Info.InterpupillaryDistance << endl;
		cout << " DistortionK[0]: " << Info.DistortionK[0] << endl;
		cout << " DistortionK[1]: " << Info.DistortionK[1] << endl;
		cout << " DistortionK[2]: " << Info.DistortionK[2] << endl;
		cout << "--------------------------" << endl;
        }

	cout << endl << " Press ENTER to continue" << endl;

	cin.get();

	while(pSensor)
	{
		Vector3f acc = FusionResult.GetAcceleration();
		Quatf quaternion = FusionResult.GetOrientation();

		float yaw, pitch, roll;
		quaternion.GetEulerAngles<Axis_Y, Axis_X, Axis_Z>(&yaw, &pitch, &roll);

		cout << "Yaw=" << RadToDegree(yaw) << 
			" Pitch=" << RadToDegree(pitch) << 
			" Roll=" << RadToDegree(roll) <<
			" X=" << acc.x / STD_GRAV << 
			" Y=" << acc.y / STD_GRAV << 
			" Z=" << acc.z / STD_GRAV << endl;

		Sleep(50);

		if (_kbhit()) exit(0);
	}
}