def test_import_xsens(self):
# Get data, with a specified input from an XSens system
in_file = os.path.join(myPath, 'data', 'data_xsens.txt')
sensor = XSens(in_file=in_file, q_type=None)
rate = sensor.rate
acc = sensor.acc
omega = sensor.omega
self.assertEqual(rate, 50.)
self.assertAlmostEqual((omega[0, 2] - 0.050860000000000002), 0)
def test_import_manual(self):
# Get data, with a specified input from an XSens system
in_file = os.path.join(myPath, 'data', 'data_xsens.txt')
sensor = XSens(in_file=in_file, q_type=None)
transfer_data = {
'rate': sensor.rate,
'acc': sensor.acc,
'omega': sensor.omega,
'mag': sensor.mag
}
my_sensor = MyOwnSensor(in_file='My own 123 sensor.',
in_data=transfer_data)
self.assertEqual(my_sensor.rate, 50.)
self.assertAlmostEqual((my_sensor.omega[0, 2] - 0.050860000000000002),
0)
analytical(omega = omega, accMeasured=acc)
'''
from sensors.xsens import XSens
in_file = r'tests/data/data_xsens.txt'
initial_orientation = np.array([[1, 0, 0], [0, 0, -1], [0, 1, 0]])
#in_file = r'tests/data/data_xsens2.txt'
#initial_orientation = np.array([[0,0,-1],
#[1, 0, 0],
#[0,-1,0]])
initial_position = np.r_[0, 0, 0]
sensor = XSens(in_file=in_file,
R_init=initial_orientation,
pos_init=initial_position)
# By default, the orientation quaternion gets automatically calculated, using "analytical"
q_analytical = sensor.quat
def show_result(imu_data):
"Dummy function, to simplify the visualization"
fig, axs = plt.subplots(3, 1)
axs[0].plot(imu_data.omega)
axs[0].set_ylabel('Omega')
axs[0].set_title(imu_data.q_type)
axs[1].plot(imu_data.acc)
axs[1].set_ylabel('Acc')
axs[2].plot(imu_data.quat[:, 1:])
dt = 1./rate
num_rep = duration*rate
omegas = np.tile(omega, [num_rep, 1])
q = quat.calc_quat(omegas, q0, rate, 'sf')
#orientation(q)
in_file = r'.\tests\data\data_xsens.txt'
from skinematics.sensors.xsens import XSens
data = XSens(in_file)
out_file = 'demo_patch.mp4'
title_text = 'Rotation Demo'
orientation(data.quat, out_file=None, title_text='Well done!')
# Test pygame-viewer
phi = np.arange(360)
q = quat.deg2quat(np.column_stack((phi, np.zeros((len(phi), 2)))))
viewer = Orientation_Viewer_pygame(quat_in=q)
viewer.run()
'''
# Test OpenGL viewer:
in_file = r'.\tests\data\data_xsens.txt'
from sensors.xsens import XSens
data = XSens(in_file)
orientation(data.quat, deltaT=5)
viewer = Orientation_OGL(quat_in=data.quat)
viewer.run(looping=False, rate=100)
def test_IMU_xsens(self):
# Get data, with a specified input from an XSens system
in_file = os.path.join(myPath, 'data', 'data_xsens.txt')
my_IMU = XSens(in_file=in_file)
self.assertEqual(my_IMU.omega.size, 2859)
'''
from sensors.xsens import XSens
in_file = r'tests/data/data_xsens.txt'
initial_orientation = np.array([ [1,0,0],
[0,0,-1],
[0,1,0]])
#in_file = r'tests/data/data_xsens2.txt'
#initial_orientation = np.array([[0,0,-1],
#[1, 0, 0],
#[0,-1,0]])
initial_position = np.r_[0,0,0]
sensor = XSens(in_file=in_file, R_init=initial_orientation, pos_init=initial_position)
# By default, the orientation quaternion gets automatically calculated, using "analytical"
q_analytical = sensor.quat
def show_result(imu_data):
"Dummy function, to simplify the visualization"
fig, axs = plt.subplots(3,1)
axs[0].plot(imu_data.omega)
axs[0].set_ylabel('Omega')
axs[0].set_title(imu_data.q_type)
axs[1].plot(imu_data.acc)
axs[1].set_ylabel('Acc')
axs[2].plot(imu_data.quat[:,1:])
'''
from sensors.xsens import XSens
in_file = r'tests/data/data_xsens.txt'
initial_orientation = np.array([ [1,0,0],
[0,0,-1],
[0,1,0]])
#in_file = r'tests/data/data_xsens2.txt'
#initial_orientation = np.array([[0,0,-1],
#[1, 0, 0],
#[0,-1,0]])
initial_position = np.r_[0,0,0]
sensor = XSens(in_file=in_file, R_init=initial_orientation, pos_init=initial_position)
# By default, the orientation quaternion gets automatically calculated, using "analytical"
q_analytical = sensor.quat
def show_result(imu_data):
fig, axs = plt.subplots(3,1)
axs[0].plot(imu_data.omega)
axs[0].set_ylabel('Omega')
axs[0].set_title(imu_data.q_type)
axs[1].plot(imu_data.acc)
axs[1].set_ylabel('Acc')
axs[2].plot(imu_data.quat[:,1:])
axs[2].set_ylabel('Quat')
plt.show()