Mark Vandermeulen / FYDP_Final2

This is for our FYDP project. 2 MPU6050s are used

Dependencies:   Servo mbed

drivers/MPU6050-DMP-Ian/Math/helper_3dmath.h@4:05484073a641, 2015-03-22 (annotated)

Committer:
majik
Date:
Sun Mar 22 06:34:30 2015 +0000
Revision:
4:05484073a641
Parent:
0:21019d94ad33 
BOTH IMUs WORK NOW. Put them in separate threads. Servo is included.

Who changed what in which revision?

UserRevisionLine numberNew contents of line
majik 0:21019d94ad33 1 // I2C device class (I2Cdev) demonstration Arduino sketch for MPU6050 class, 3D math helper
majik 0:21019d94ad33 2 // 6/5/2012 by Jeff Rowberg <jeff@rowberg.net>
majik 0:21019d94ad33 3 // Updates should (hopefully) always be available at https://github.com/jrowberg/i2cdevlib
majik 0:21019d94ad33 4 //
majik 0:21019d94ad33 5 // Changelog:
majik 0:21019d94ad33 6 // 2012-06-05 - add 3D math helper file to DMP6 example sketch
majik 0:21019d94ad33 7
majik 0:21019d94ad33 8 /* ============================================
majik 0:21019d94ad33 9 I2Cdev device library code is placed under the MIT license
majik 0:21019d94ad33 10 Copyright (c) 2012 Jeff Rowberg
majik 0:21019d94ad33 11
majik 0:21019d94ad33 12 Permission is hereby granted, free of charge, to any person obtaining a copy
majik 0:21019d94ad33 13 of this software and associated documentation files (the "Software"), to deal
majik 0:21019d94ad33 14 in the Software without restriction, including without limitation the rights
majik 0:21019d94ad33 15 to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
majik 0:21019d94ad33 16 copies of the Software, and to permit persons to whom the Software is
majik 0:21019d94ad33 17 furnished to do so, subject to the following conditions:
majik 0:21019d94ad33 18
majik 0:21019d94ad33 19 The above copyright notice and this permission notice shall be included in
majik 0:21019d94ad33 20 all copies or substantial portions of the Software.
majik 0:21019d94ad33 21
majik 0:21019d94ad33 22 THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
majik 0:21019d94ad33 23 IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
majik 0:21019d94ad33 24 FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
majik 0:21019d94ad33 25 AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
majik 0:21019d94ad33 26 LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
majik 0:21019d94ad33 27 OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
majik 0:21019d94ad33 28 THE SOFTWARE.
majik 0:21019d94ad33 29 ===============================================
majik 0:21019d94ad33 30 */
majik 0:21019d94ad33 31
majik 0:21019d94ad33 32 #ifndef _HELPER_3DMATH_H_
majik 0:21019d94ad33 33 #define _HELPER_3DMATH_H_
majik 0:21019d94ad33 34
majik 0:21019d94ad33 35 class Quaternion {
majik 0:21019d94ad33 36 public:
majik 0:21019d94ad33 37 float w;
majik 0:21019d94ad33 38 float x;
majik 0:21019d94ad33 39 float y;
majik 0:21019d94ad33 40 float z;
majik 0:21019d94ad33 41
majik 0:21019d94ad33 42 Quaternion() {
majik 0:21019d94ad33 43 w = 1.0f;
majik 0:21019d94ad33 44 x = 0.0f;
majik 0:21019d94ad33 45 y = 0.0f;
majik 0:21019d94ad33 46 z = 0.0f;
majik 0:21019d94ad33 47 }
majik 0:21019d94ad33 48
majik 0:21019d94ad33 49 Quaternion(float nw, float nx, float ny, float nz) {
majik 0:21019d94ad33 50 w = nw;
majik 0:21019d94ad33 51 x = nx;
majik 0:21019d94ad33 52 y = ny;
majik 0:21019d94ad33 53 z = nz;
majik 0:21019d94ad33 54 }
majik 0:21019d94ad33 55
majik 0:21019d94ad33 56 Quaternion getProduct(Quaternion q) {
majik 0:21019d94ad33 57 // Quaternion multiplication is defined by:
majik 0:21019d94ad33 58 // (Q1 * Q2).w = (w1w2 - x1x2 - y1y2 - z1z2)
majik 0:21019d94ad33 59 // (Q1 * Q2).x = (w1x2 + x1w2 + y1z2 - z1y2)
majik 0:21019d94ad33 60 // (Q1 * Q2).y = (w1y2 - x1z2 + y1w2 + z1x2)
majik 0:21019d94ad33 61 // (Q1 * Q2).z = (w1z2 + x1y2 - y1x2 + z1w2
majik 0:21019d94ad33 62 return Quaternion(
majik 0:21019d94ad33 63 w*q.w - x*q.x - y*q.y - z*q.z, // new w
majik 0:21019d94ad33 64 w*q.x + x*q.w + y*q.z - z*q.y, // new x
majik 0:21019d94ad33 65 w*q.y - x*q.z + y*q.w + z*q.x, // new y
majik 0:21019d94ad33 66 w*q.z + x*q.y - y*q.x + z*q.w); // new z
majik 0:21019d94ad33 67 }
majik 0:21019d94ad33 68
majik 0:21019d94ad33 69 Quaternion getConjugate() {
majik 0:21019d94ad33 70 return Quaternion(w, -x, -y, -z);
majik 0:21019d94ad33 71 }
majik 0:21019d94ad33 72
majik 0:21019d94ad33 73 float getMagnitude() {
majik 0:21019d94ad33 74 return sqrt(w*w + x*x + y*y + z*z);
majik 0:21019d94ad33 75 }
majik 0:21019d94ad33 76
majik 0:21019d94ad33 77 void normalize() {
majik 0:21019d94ad33 78 float m = getMagnitude();
majik 0:21019d94ad33 79 w /= m;
majik 0:21019d94ad33 80 x /= m;
majik 0:21019d94ad33 81 y /= m;
majik 0:21019d94ad33 82 z /= m;
majik 0:21019d94ad33 83 }
majik 0:21019d94ad33 84
majik 0:21019d94ad33 85 Quaternion getNormalized() {
majik 0:21019d94ad33 86 Quaternion r(w, x, y, z);
majik 0:21019d94ad33 87 r.normalize();
majik 0:21019d94ad33 88 return r;
majik 0:21019d94ad33 89 }
majik 0:21019d94ad33 90 };
majik 0:21019d94ad33 91
majik 0:21019d94ad33 92 class VectorInt16 {
majik 0:21019d94ad33 93 public:
majik 0:21019d94ad33 94 int16_t x;
majik 0:21019d94ad33 95 int16_t y;
majik 0:21019d94ad33 96 int16_t z;
majik 0:21019d94ad33 97
majik 0:21019d94ad33 98 VectorInt16() {
majik 0:21019d94ad33 99 x = 0;
majik 0:21019d94ad33 100 y = 0;
majik 0:21019d94ad33 101 z = 0;
majik 0:21019d94ad33 102 }
majik 0:21019d94ad33 103
majik 0:21019d94ad33 104 VectorInt16(int16_t nx, int16_t ny, int16_t nz) {
majik 0:21019d94ad33 105 x = nx;
majik 0:21019d94ad33 106 y = ny;
majik 0:21019d94ad33 107 z = nz;
majik 0:21019d94ad33 108 }
majik 0:21019d94ad33 109
majik 0:21019d94ad33 110 float getMagnitude() {
majik 0:21019d94ad33 111 return sqrt((float)(x*x + y*y + z*z));
majik 0:21019d94ad33 112 }
majik 0:21019d94ad33 113
majik 0:21019d94ad33 114 void normalize() {
majik 0:21019d94ad33 115 float m = getMagnitude();
majik 0:21019d94ad33 116 x /= m;
majik 0:21019d94ad33 117 y /= m;
majik 0:21019d94ad33 118 z /= m;
majik 0:21019d94ad33 119 }
majik 0:21019d94ad33 120
majik 0:21019d94ad33 121 VectorInt16 getNormalized() {
majik 0:21019d94ad33 122 VectorInt16 r(x, y, z);
majik 0:21019d94ad33 123 r.normalize();
majik 0:21019d94ad33 124 return r;
majik 0:21019d94ad33 125 }
majik 0:21019d94ad33 126
majik 0:21019d94ad33 127 void rotate(Quaternion *q) {
majik 0:21019d94ad33 128 // http://www.cprogramming.com/tutorial/3d/quaternions.html
majik 0:21019d94ad33 129 // http://www.euclideanspace.com/maths/algebra/realNormedAlgebra/quaternions/transforms/index.htm
majik 0:21019d94ad33 130 // http://content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation
majik 0:21019d94ad33 131 // ^ or: http://webcache.googleusercontent.com/search?q=cache:xgJAp3bDNhQJ:content.gpwiki.org/index.php/OpenGL:Tutorials:Using_Quaternions_to_represent_rotation&hl=en&gl=us&strip=1
majik 0:21019d94ad33 132
majik 0:21019d94ad33 133 // P_out = q * P_in * conj(q)
majik 0:21019d94ad33 134 // - P_out is the output vector
majik 0:21019d94ad33 135 // - q is the orientation quaternion
majik 0:21019d94ad33 136 // - P_in is the input vector (a*aReal)
majik 0:21019d94ad33 137 // - conj(q) is the conjugate of the orientation quaternion (q=[w,x,y,z], q*=[w,-x,-y,-z])
majik 0:21019d94ad33 138 Quaternion p(0, x, y, z);
majik 0:21019d94ad33 139
majik 0:21019d94ad33 140 // quaternion multiplication: q * p, stored back in p
majik 0:21019d94ad33 141 p = q -> getProduct(p);
majik 0:21019d94ad33 142
majik 0:21019d94ad33 143 // quaternion multiplication: p * conj(q), stored back in p
majik 0:21019d94ad33 144 p = p.getProduct(q -> getConjugate());
majik 0:21019d94ad33 145
majik 0:21019d94ad33 146 // p quaternion is now [0, x', y', z']
majik 0:21019d94ad33 147 x = p.x;
majik 0:21019d94ad33 148 y = p.y;
majik 0:21019d94ad33 149 z = p.z;
majik 0:21019d94ad33 150 }
majik 0:21019d94ad33 151
majik 0:21019d94ad33 152 VectorInt16 getRotated(Quaternion *q) {
majik 0:21019d94ad33 153 VectorInt16 r(x, y, z);
majik 0:21019d94ad33 154 r.rotate(q);
majik 0:21019d94ad33 155 return r;
majik 0:21019d94ad33 156 }
majik 0:21019d94ad33 157 };
majik 0:21019d94ad33 158
majik 0:21019d94ad33 159 class VectorFloat {
majik 0:21019d94ad33 160 public:
majik 0:21019d94ad33 161 float x;
majik 0:21019d94ad33 162 float y;
majik 0:21019d94ad33 163 float z;
majik 0:21019d94ad33 164
majik 0:21019d94ad33 165 VectorFloat() {
majik 0:21019d94ad33 166 x = 0;
majik 0:21019d94ad33 167 y = 0;
majik 0:21019d94ad33 168 z = 0;
majik 0:21019d94ad33 169 }
majik 0:21019d94ad33 170
majik 0:21019d94ad33 171 VectorFloat(float nx, float ny, float nz) {
majik 0:21019d94ad33 172 x = nx;
majik 0:21019d94ad33 173 y = ny;
majik 0:21019d94ad33 174 z = nz;
majik 0:21019d94ad33 175 }
majik 0:21019d94ad33 176
majik 0:21019d94ad33 177 float getMagnitude() {
majik 0:21019d94ad33 178 return sqrt(x*x + y*y + z*z);
majik 0:21019d94ad33 179 }
majik 0:21019d94ad33 180
majik 0:21019d94ad33 181 void normalize() {
majik 0:21019d94ad33 182 float m = getMagnitude();
majik 0:21019d94ad33 183 x /= m;
majik 0:21019d94ad33 184 y /= m;
majik 0:21019d94ad33 185 z /= m;
majik 0:21019d94ad33 186 }
majik 0:21019d94ad33 187
majik 0:21019d94ad33 188 VectorFloat getNormalized() {
majik 0:21019d94ad33 189 VectorFloat r(x, y, z);
majik 0:21019d94ad33 190 r.normalize();
majik 0:21019d94ad33 191 return r;
majik 0:21019d94ad33 192 }
majik 0:21019d94ad33 193
majik 0:21019d94ad33 194 void rotate(Quaternion *q) {
majik 0:21019d94ad33 195 Quaternion p(0, x, y, z);
majik 0:21019d94ad33 196
majik 0:21019d94ad33 197 // quaternion multiplication: q * p, stored back in p
majik 0:21019d94ad33 198 p = q -> getProduct(p);
majik 0:21019d94ad33 199
majik 0:21019d94ad33 200 // quaternion multiplication: p * conj(q), stored back in p
majik 0:21019d94ad33 201 p = p.getProduct(q -> getConjugate());
majik 0:21019d94ad33 202
majik 0:21019d94ad33 203 // p quaternion is now [0, x', y', z']
majik 0:21019d94ad33 204 x = p.x;
majik 0:21019d94ad33 205 y = p.y;
majik 0:21019d94ad33 206 z = p.z;
majik 0:21019d94ad33 207 }
majik 0:21019d94ad33 208
majik 0:21019d94ad33 209 VectorFloat getRotated(Quaternion *q) {
majik 0:21019d94ad33 210 VectorFloat r(x, y, z);
majik 0:21019d94ad33 211 r.rotate(q);
majik 0:21019d94ad33 212 return r;
majik 0:21019d94ad33 213 }
majik 0:21019d94ad33 214 };
majik 0:21019d94ad33 215
majik 0:21019d94ad33 216 #endif /* _HELPER_3DMATH_H_ */