C++ Quaternion::w方法代码示例

    // 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)
    {
        using std::atan2;
        using std::asin;
        using std::sqrt;

        // Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
        float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                           1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
        float pitch = asin(2.0f * (quat.w() * quat.y() - quat.z() * quat.x()));
        float yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
                          1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));

        //hacky globals
        ROLL = roll;
        PITCH = pitch;
        YAW = yaw;

        // Convert the floating point angles in radians to a scale from 0 to 20.
        roll_w = static_cast<int>((roll + (float)M_PI)/(M_PI * 2.0f) * 18);
        pitch_w = static_cast<int>((pitch + (float)M_PI/2.0f)/M_PI * 18);

        yaw_w = static_cast<int>((yaw + (float)M_PI)/(M_PI * 2.0f) * 18);
        if (CURRENTPOSE == myo::Pose::waveIn) {
            WAVEINCOUNTER += 2;
        }
        if (CURRENTPOSE == myo::Pose::fingersSpread) {
            FINGSERSPREADCOUNTER += 2;
        }
        if (WAVEINCOUNTER != 1) {
            WAVEINCOUNTER -= 1;
        }
    }

    // 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)
    {
        using std::atan2;
        using std::asin;
        using std::sqrt;

        std::cout<<"orientation fucntion called"<<std::endl;
        // Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
        float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                           1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
        float pitch = asin(2.0f * (quat.w() * quat.y() - quat.z() * quat.x()));
        float yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
                        1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));

        osc::OutboundPacketStream p(buffer, OUTPUT_BUFFER_SIZE);
				p << osc::BeginMessage("/myo/orientation")
        << MAC
        << quat.x() << quat.y() << quat.z() << quat.w() << roll << pitch << yaw << osc::EndMessage;
		transmitSocket->Send(p.Data(), p.Size());
    
        // Convert the floating point angles in radians to a scale from 0 to 20.
        roll_w = static_cast<int>((roll + (float)M_PI)/(M_PI * 2.0f) * 18);
        pitch_w = static_cast<int>((pitch + (float)M_PI/2.0f)/M_PI * 18);
        yaw_w = static_cast<int>((yaw + (float)M_PI)/(M_PI * 2.0f) * 18);
    }

// onOrientationData() is called whenever the Myo device provides its current orientation, which is represented
// as a unit quaternion.
void MyoDataCollector::onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
{
    using std::atan2;
    using std::asin;
    using std::sqrt;
    
    // Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
    float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                       1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
    float pitch = asin(2.0f * (quat.w() * quat.y() - quat.z() * quat.x()));
    float yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
                      1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));
    
    // Convert the floating point angles in radians to a scale from 0 to 20.
    float roll_f = ((roll + (float)M_PI)/(M_PI * 2.0f) * 18);
    float pitch_f = ((pitch + (float)M_PI/2.0f)/M_PI * 18);
    float yaw_f = ((yaw + (float)M_PI)/(M_PI * 2.0f) * 18);
    
    int roll_w = static_cast<int>(roll_f);
    int pitch_w = static_cast<int>(pitch_f);
    int yaw_w = static_cast<int>(yaw_f);
    
    MyoData &data = knownMyosData[myo];
    data.roll = roll_f/18.0*100.0;
    data.pitch = pitch_f/18.0*100.0;
    data.yaw = yaw_f/18.0*100.0;
    
    sendOrientation(myo, data.roll, data.pitch, data.yaw);
}

void DataCollector::onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
{
    using std::atan2;
    using std::asin;
    using std::sqrt;
    using std::max;
    using std::min;
	controlSystem = controller->getControlSystem();
	systemUnlocked = controller->getSystemStatus();
	if (controlSystem==2 && systemUnlocked){
		roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                       1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
		roll_w = static_cast<int>((roll + (float)M_PI/2.0f)/M_PI * 18);		   
		controller->setRoll(roll_w);	
	} else {
		pitch = asin(max(-1.0f, min(1.0f, 2.0f * (quat.w() * quat.y() - quat.z() * quat.x()))));
		pitch_w = static_cast<int>((pitch + (float)M_PI/2.0f)/M_PI * 18);
		controller->setPitch(pitch_w);
		//cout << "SPEED: " << controller->longSpeed[pitch_w] << endl;
	}
    if (controlSystem == 0 && systemUnlocked){
		yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
                    1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));
		yaw_w = static_cast<int>((yaw + (float)M_PI)/(M_PI * 2.0f) * 18);
		controller->setYaw(yaw_w);
		}
}

void DeviceCollector::onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
{
    Device * device = findDevice(myo);
    if ( device ) {
        using std::atan2;
        using std::asin;
        using std::sqrt;
        
        // Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
        float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                           1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
        float pitch = asin(2.0f * (quat.w() * quat.y() - quat.z() * quat.x()));
        float yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
                          1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));
        
        device->q = quat;//set(quat.x(), quat.y(), quat.z(), quat.w());
        
        
        device->roll = roll;
        device->pitch = pitch;
        device->yaw = yaw;
        
        
        // Convert the floating point angles in radians to a scale from 0 to 20.
        device->roll_w = static_cast<int>((roll + (float)M_PI)/(M_PI * 2.0f) * 18);
        device->pitch_w = static_cast<int>((pitch + (float)M_PI/2.0f)/M_PI * 18);
        device->yaw_w = static_cast<int>((yaw + (float)M_PI)/(M_PI * 2.0f) * 18);
        
        float gyoro_g = sqrt(device->gyro.x()*device->gyro.x() + device->gyro.y()*device->gyro.y() + device->gyro.z()*device->gyro.z());
        float g = sqrt(device->accel.x()*device->accel.x() + device->accel.y()*device->accel.y() + device->accel.z()*device->accel.z());
        //            cout << gyoro_g << endl;
        //            cout << g << endl;
        if ( gyoro_g <= 0.2 ) device->gravity = g;
        
//        Quaternion4f q;
//        q = quat;
//        //.set(quat.x(), quat.z(), quat.y(), quat.w());
//        Vector3f linear_accel;
//        ofMatrix4x4 mat;
//        mat.translate(ofVec3f(0,device->gravity,0));
//        mat.rotate(q);
//        ofVec3f trans = mat.getTranslation();
//        
//        linear_accel = device->getAccel();
//        linear_accel.x = linear_accel.x - trans.x;
//        linear_accel.y = linear_accel.y - trans.z;
//        linear_accel.z = linear_accel.z - trans.y;
//
//        device->linear_accel.set(linear_accel);
        //            cout << device->getAccel() << endl;
        //            cout << mat.getTranslation() << endl;
        //            cout << linear_accel << endl;
    }
}

    // 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)
    {
        using std::atan2;
        using std::asin;
        using std::sqrt;

        // Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
        float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                           1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
        float pitch = asin(2.0f * (quat.w() * quat.y() - quat.z() * quat.x()));
        float yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
                        1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));
		
        // Convert the floating point angles in radians to a scale from 0 to 20.
        roll_w = static_cast<int>((roll + (float)M_PI)/(M_PI * 2.0f) * 18);
        pitch_w = static_cast<int>((pitch + (float)M_PI/2.0f)/M_PI * 18);
        yaw_w = static_cast<int>((yaw + (float)M_PI)/(M_PI * 2.0f) * 18);
		float drop = 1.1;
		roll = ((roll + (float)M_PI)/(M_PI * 2.0f) * 18);
        pitch = ((pitch + (float)M_PI/2.0f)/M_PI * 18);
		if(pitch > 10)
		{	if(pitch < 20)
			{	pitch *= (drop*(20-pitch));
			}
		}
		else
		{	if(pitch != 10)
			{	pitch *= (drop*(10-pitch));
			}
		}	
        yaw = ((yaw + (float)M_PI)/(M_PI * 2.0f) * 18);
		if(yaw > 10.0000)
		{	if(yaw < 20.0000)
			{	yaw *= (drop*(20-yaw));
			}
			else
			{	yaw = 19.9999;
			}
		}
		else
		{	if(yaw != 10.0000)
			{	yaw *= (drop*(10-yaw));
			}
		}	
		if(color_input == true)
		{	float x = (GetSystemMetrics(SM_CXSCREEN));
			float y = (GetSystemMetrics(SM_CYSCREEN));
			SetCursorPos((((((20)-yaw))/(20))*x), ((pitch/(20))*y));
		}
    }

void vrpn_Tracker_ThalmicLabsMyo::onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& rotation)
{
	if (myo != _myo)
		return;
	if (!d_connection) {
		return;
	}
	vrpn_gettimeofday(&_timestamp, NULL);
	double dt = vrpn_TimevalDurationSeconds(_timestamp, vrpn_Button::timestamp);
	vrpn_Tracker::timestamp = _timestamp;
	vrpn_Analog::timestamp = _timestamp;

	d_quat[0] = rotation.x();
	d_quat[1] = rotation.y();
	d_quat[2] = rotation.z();
	d_quat[3] = rotation.w();

	// do the same as analog, with euler angles (maybe offset from when OnArmSync?)
	q_vec_type euler;

	q_to_euler(euler, d_quat);
	channel[ANALOG_ROTATION_X] = euler[Q_ROLL];
	channel[ANALOG_ROTATION_Y] = euler[Q_PITCH];
	channel[ANALOG_ROTATION_Z] = euler[Q_YAW];


	char msgbuf[1000];
	int len = vrpn_Tracker::encode_to(msgbuf);
	if (d_connection->pack_message(len, _timestamp, position_m_id, d_sender_id, msgbuf, vrpn_CONNECTION_LOW_LATENCY)) {
		fprintf(stderr, "Thalmic Lab's myo tracker: can't write message: tossing\n");
	}

	_analogChanged = true;
}

void DataCollector::onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
{
	using std::atan2;
	using std::asin;
	using std::sqrt;

	// Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
	float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
					   1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
	float pitch = asin(2.0f * (quat.w() * quat.y() - quat.z() * quat.x()));
	float yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
					1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));

	// Convert the floating point angles in radians to a scale from 0 to 20.
	roll_w = static_cast<int>((roll + (float)M_PI)/(M_PI * 2.0f) * 100);
	pitch_w = static_cast<int>((pitch + (float)M_PI/2.0f)/M_PI * 100);
	yaw_w = static_cast<int>((yaw + (float)M_PI)/(M_PI * 2.0f) * 100);
}

void myouse::MyouseListener::onOrientationData(myo::Myo * myo, uint64_t timestamp,
	const myo::Quaternion<float> & rotation)
{
	using std::atan2;
	using std::asin;
	using std::sin;

	double newRoll = atan2(2.0f * (rotation.w() * rotation.x() + rotation.y() * rotation.z()),
		1.0f - 2.0f * (rotation.x() * rotation.x() + rotation.y() * rotation.y()));
	double newPitch = asin(2.0f * (rotation.w() * rotation.y() - rotation.z() * rotation.x()));
	double newYaw = atan2(2.0f * (rotation.w() * rotation.z() + rotation.x() * rotation.y()),
		1.0f - 2.0f * (rotation.y() * rotation.y() + rotation.z() * rotation.z()));

	double roll = newRoll - rollOffset;
	double pitch = newPitch - pitchOffset;
	double yaw = newYaw - yawOffset;

	if (xDir == myo::xDirectionTowardElbow) pitch *= -1;

	if (isScrolling)
	{
		scroll(-pitch * SCROLL_SPEED);
	}
	else
	{
		int x = SCREEN_WIDTH * (0.5 - X_SPEED * yaw);
		int y = SCREEN_HEIGHT * (0.5 + Y_SPEED * pitch);

		bool dragging = leftDown || rightDown || middleDown;
		float dist = sqrt((x - lastX) * (x - lastX) + (y - lastY) * (y - lastY));

		if (!dragging || dist > DRAG_THRESHOLD)
		{
			moveMouse(x, y);

			lastX = x;
			lastY = y;
		}
	}

	rawRoll = newRoll;
	rawPitch = newPitch;
	rawYaw = newYaw;
}

	// 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)
	{
		using std::atan2;
		using std::asin;
		using std::sqrt;
		using std::max;
		using std::min;

		// Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
		float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
			1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
		float pitch = asin(max(-1.0f, min(1.0f, 2.0f * (quat.w() * quat.y() - quat.z() * quat.x()))));
		float yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
			1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));
		//M_PI doesnt work
		// Convert the floating point angles in radians to a scale from 0 to 18.
		roll_w = static_cast<int>((roll + (float)3.14) / (3.14 * 2.0f) * 18);
		pitch_w = static_cast<int>((pitch + (float)3.14 / 2.0f) / 3.14 * 18);
		yaw_w = static_cast<int>((yaw + (float)3.14) / (3.14 * 2.0f) * 18);
	}

	// onOrientationData() is called whenever the Myo device provides its current orientation, which is represented
	// as a unit quaternion.
	void Filter::onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
	{
		quatX = quat.x(); //Return the x-component of this quaternion's vector
		quatY = quat.y(); //Return the y -component of this quaternion's vector
		quatZ = quat.z(); //Return the z-component of this quaternion's vector
		quatW = quat.w(); //Return the w-component (scalar) of this quaternion's vector
		using std::atan2;
		using std::asin;
		using std::sqrt;
		using std::cos;
		using std::sin;
		using std::max;
		using std::min;

		roll = -1 * atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
				1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));
		pitch = -1 * atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
				1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
		yaw = -1 * asin(max(-1.0f, min(1.0f, 2.0f * (quat.w() * quat.y() - quat.z() * quat.x()))));
	}

    jobject getJavaQuaternion(JNIEnv * env, myo::Quaternion<float> quaternion) {
        jclass quaternionClass = env->FindClass("net/johnluetke/myojni/jni/Quaternion");
        jmethodID quaternionConstructor = env->GetMethodID(quaternionClass, "<init>", "(DDDD)V");
        jobject javaQuaternion = env->NewObject(quaternionClass,
                                                quaternionConstructor,
                                                quaternion.x(),
                                                quaternion.y(),
                                                quaternion.z(),
                                                quaternion.w());

        return javaQuaternion;
    }

void MyoDataCollector::onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
{
    using std::atan2;
    using std::asin;
    using std::sqrt;


    // Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
    float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                        1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
    float pitch = asin(2.0f * (quat.w() * quat.y() - quat.z() * quat.x()));
    float yaw = atan2(2.0f * (quat.w() * quat.z() + quat.x() * quat.y()),
                    1.0f - 2.0f * (quat.y() * quat.y() + quat.z() * quat.z()));

	MyoFrameOrientationData & orient_data = m_orientation_data;

	orient_data.timestamp	= timestamp;
	orient_data.quaternion	= ofQuaternion( quat.x(), quat.y(), quat.z(), quat.w() );
    orient_data.euler_roll	= roll;
    orient_data.euler_pitch = pitch;
	orient_data.euler_yaw	= yaw;
}

 // onOrientationData() is called whenever the Myo device provides its current orientation, which is represented as a unit quaternion.
 // This function takes the position values from the quaternion and assign new values to roll_w, pitch_w and yaw_w every time new data are provided by the Myo.
 void onOrientationData(myo::Myo* myo, uint64_t timestamp, const myo::Quaternion<float>& quat)
 {
     using std::atan2;
     using std::asin;
     using std::sqrt;
     using std::max;
     using std::min;
     
     // Calculate Euler angles (roll, pitch, and yaw) from the unit quaternion.
     float roll = atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                        1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
     
     // Convert the floating point angles in radians to a clockwise scale from 1 to 127 (good for PureData) with the zero angle in π.
     // Need to change the format of the angle? DO IT HERE!
     
     roll_tmp = static_cast<int>( ( roll * 180/M_PI) );   // the value of 200 ensures a positive value for the angle.
 }

float QuaternionToRoll(const myo::Quaternion<float>& quat) {
  return std::atan2(2.0f * (quat.w() * quat.x() + quat.y() * quat.z()),
                    1.0f - 2.0f * (quat.x() * quat.x() + quat.y() * quat.y()));
}