def getDeviceVector(self,sensorId, suppliedVector, offsetAsQuaternion):
taredOrientationAsQuaternion = self.__getTaredOrientationAsQuaternion(sensorId,needToReturnSensorId=False)
#print "taredOrientationAsQuaternion"
#print taredOrientationAsQuaternion
vectorAndQuaternionCalculator = VectorAndQuaternionCalculator()
vector = vectorAndQuaternionCalculator.getVectorOftheDeviceBasedOnSuppliedOrientation(suppliedVector,taredOrientationAsQuaternion,offsetAsQuaternion)
return vector
def performOffsetOperation(self,sensorId):
#we are trying to find offset here by getting gravity vector of device and gravity vector that we want it as
northAndGravityVectors = self.__getNorthAndGravityVectorsInSensorFrame(sensorId)
untaredOrientationAsQuaternion = self.__getUntaredOrientationAsQuaternion(sensorId,needToReturnSensorId=False)
vectorAndQuaternionCalculator = VectorAndQuaternionCalculator()
offsetAsQuaternion = vectorAndQuaternionCalculator.getOffsetOrientationAsQuaternion(northAndGravityVectors)
#below two statements is to offset gd so that it is align with g
taredData = vectorAndQuaternionCalculator.getMultiplicationOfQuaternion(untaredOrientationAsQuaternion,offsetAsQuaternion)
self.__setTareOrientationAsSameAsSuppliedOrientationInQuaternionDomain(sensorId,tareData=taredData)
return offsetAsQuaternion
def getAngleBetweenThreeVectors(self, vectorOne,vectorTwo,vectorthree):
vectorAndQuaternionCalculator = VectorAndQuaternionCalculator()
return vectorAndQuaternionCalculator.calculateAngle(vectorOne,vectorTwo,vectorthree)