def __getNorthAndGravityVectorsInSensorFrame(self, sensorId):
command = Commands.getCommandAsChr(Commands.GET_NORTH_AND_GRAVITY_VECTORS_IN_SENSOR_FRAME)
lengthOfReturnData = Commands.getReturnDataLength(Commands.GET_NORTH_AND_GRAVITY_VECTORS_IN_SENSOR_FRAME)
format = Commands.getRetrunDataFormat(Commands.GET_NORTH_AND_GRAVITY_VECTORS_IN_SENSOR_FRAME)
binaryCommand = self.__getWirelessBinaryCommand(command, sensorId)
receivedData = self.__getRawDataAndRetryIfGetCommandFailed(sensorId,binaryCommand,lengthOfReturnData)
return (self.__getFormatedData(receivedData,format))
def __getTaredOrientationAsQuaternion(self, sensorId,needToReturnSensorId = True):
command = Commands.getCommandAsChr(Commands.GET_TARED_ORIENTATION_AS_QUATERNION)
format = Commands.getRetrunDataFormat(Commands.GET_TARED_ORIENTATION_AS_QUATERNION)
lengthOfReturnData = Commands.getReturnDataLength(Commands.GET_TARED_ORIENTATION_AS_QUATERNION)
binaryCommand = self.__getWirelessBinaryCommand(command, sensorId)
receivedData = self.__getRawDataAndRetryIfGetCommandFailed(sensorId,binaryCommand,lengthOfReturnData)
if needToReturnSensorId is True:
return (self.__getFormatedData(receivedData,format))
else:
return (self.__getFormatedDataWithoutSensorId(receivedData,format))
def __getUntaredOrientationAsQuaternion(self, sensorId = 0,needToReturnSensorId = True):
command = Commands.getCommandAsChr(Commands.GET_UNTARED_ORIENTATION_AS_QUATERNION)
lengthOfReturnData = Commands.getReturnDataLength(Commands.GET_UNTARED_ORIENTATION_AS_QUATERNION)
format = Commands.getRetrunDataFormat(Commands.GET_UNTARED_ORIENTATION_AS_QUATERNION)
binaryCommand = self.__getWirelessBinaryCommand(command, sensorId)
receivedData = self.__getRawDataAndRetryIfGetCommandFailed(sensorId,binaryCommand,lengthOfReturnData)
if needToReturnSensorId is True:
return (self.__getFormatedData(receivedData,format))
else:
#Note: starting byte is sensorId followed by data, need to remove index 0 if you dont want to get sensorId as return data
return (self.__getFormatedData(receivedData,format))[1:]
