def test_yaw_0_360(self):
# 0/360: x 0, y +
mag = [0.0, 40.0, 40.0]
attitude = self._compute_attitude(mag)
self.assertAlmostEqual(attitude[0], 0.0, 3)
self.assertAlmostEqual(attitude[1], 0.0, 3)
self.assertAlmostEqual(attitude[2], 0.0, 3)
self.assertAlmostEqual(attitude[3], 1.0, 3)
axis_angle = sensorfusion.quaternion_to_axis_angle(*attitude)
self.assertEqual(axis_angle, (0, 0, 0, 0))
def test_yaw_270(self):
# 270: x +, y 0
mag = [40.0, 0.0, 40.0]
attitude = self._compute_attitude(mag)
self.assertAlmostEqual(attitude[0], 0.0, 3)
self.assertAlmostEqual(attitude[1], 0.0, 3)
self.assertAlmostEqual(attitude[2], 0.707, 3)
self.assertAlmostEqual(attitude[3], 0.707, 3)
axis_angle = sensorfusion.quaternion_to_axis_angle(*attitude)
self.assertAlmostEqual(axis_angle[0], 90, 3)
self.assertAlmostEqual(axis_angle[1], 0)
self.assertAlmostEqual(axis_angle[2], 0)
self.assertAlmostEqual(axis_angle[3], 1)
def test_yaw_180(self):
# 180: x 0, y -
mag = [0.0, -40.0, -40.0]
attitude = self._compute_attitude(mag)
self.assertAlmostEqual(attitude[0], 0.0, 3)
self.assertAlmostEqual(attitude[1], 0.0, 3)
self.assertAlmostEqual(attitude[2], 1, 3)
self.assertAlmostEqual(attitude[3], 0, 3)
axis_angle = sensorfusion.quaternion_to_axis_angle(*attitude)
self.assertAlmostEqual(axis_angle[0], 180.0, 1)
self.assertAlmostEqual(axis_angle[1], 0)
self.assertAlmostEqual(axis_angle[2], 0)
self.assertAlmostEqual(axis_angle[3], 1.0)
def test_yaw_90(self):
# 90: x -, y 0
mag = [-40.0, 0.0, 40.0]
attitude = self._compute_attitude_z(mag)
self.assertAlmostEqual(attitude[0], 0.0, 3)
self.assertAlmostEqual(attitude[1], 0.0, 3)
self.assertAlmostEqual(attitude[2], -0.707, 3)
self.assertAlmostEqual(attitude[3], 0.707, 3)
axis_angle = sensorfusion.quaternion_to_axis_angle(*attitude)
self.assertAlmostEqual(axis_angle[0], 90, 3)
self.assertAlmostEqual(axis_angle[1], 0, 3)
self.assertAlmostEqual(axis_angle[2], 0, 3)
self.assertAlmostEqual(axis_angle[3], -1, 3)
def _test_roll_angles(self):
mags = [
[-4385, -1112, -1782],
[-452, -1381, -793],
[-5137, -870, 2033],
[-1663, -974, 3062],
]
expected_angle_axis = [
(104.3, -1.0),
(131.6, -1.0),
(24.4, 1.0),
(121.3, 1.0)
]
for j, mag in enumerate(mags):
mag = [(mag[i] - self.MAG_BIAS[i])/self.MAG_SCALE[i] for i in range(3)]
attitude = self._compute_attitude_y(mag)
axis_angle = sensorfusion.quaternion_to_axis_angle(*attitude)
self.assertAlmostEqual(axis_angle[0], expected_angle_axis[j][0], 1)
self.assertAlmostEqual(axis_angle[1], 0)
self.assertAlmostEqual(axis_angle[2], expected_angle_axis[j][1], 3)
self.assertAlmostEqual(axis_angle[3], 0)
def test_yaw_angles(self):
mags = [
[-4473, 6554, 4485], # DOOR WALL
[-3629, 1532, 4938], # MIRROR
[-793, 6677, 4569], # RIGHT WALL
[-730, 2380, 5387], # WINDOW
]
expected_angle_axis = [
(44.1, -1.0),
(131.6, -1.0),
(24.4, 1.0),
(121.3, 1.0)
]
for j, mag in enumerate(mags):
mag = [(mag[i] - self.MAG_BIAS[i])/self.MAG_SCALE[i] for i in range(3)]
attitude = self._compute_attitude_z(mag)
axis_angle = sensorfusion.quaternion_to_axis_angle(*attitude)
self.assertAlmostEqual(axis_angle[0], expected_angle_axis[j][0], 1)
self.assertAlmostEqual(axis_angle[1], 0, 3)
self.assertAlmostEqual(axis_angle[2], 0, 3)
self.assertAlmostEqual(axis_angle[3], expected_angle_axis[j][1], 3)
def _test_pitch_angles(self):
mags = [
[-6978, 5034, -2936], # DOOR WALL
[-7456, 1348, -1137], # MIRROR
[-7231, 6709, 732], # RIGHT WALL
[-7525, 3502, 2523] # WINDOW
]
expected_angle_axis = [
(104.3, -1.0),
(131.6, -1.0),
(24.4, 1.0),
(121.3, 1.0)
]
for j, mag in enumerate(mags):
mag = [(mag[i] - self.MAG_BIAS[i])/self.MAG_SCALE[i] for i in range(3)]
attitude = self._compute_attitude_x(mag)
axis_angle = sensorfusion.quaternion_to_axis_angle(*attitude)
print j, axis_angle
self.assertAlmostEqual(axis_angle[0], expected_angle_axis[j][0], 1)
self.assertAlmostEqual(axis_angle[1], expected_angle_axis[j][1], 3)
self.assertAlmostEqual(axis_angle[2], 0)
self.assertAlmostEqual(axis_angle[3], 0)
def _test_mag_ranges(self):
from collections import defaultdict
angles = defaultdict(list)
for x in range(-100, 100, 10):
for y in range(-100, 100, 10):
for z in range(-100, 100, 10):
self.fusion = sensorfusion.Fusion()
acc = [0, sensorfusion.GRAVITY_EARTH, 0]
mag = [float(x), float(y), float(z)]
gyro = [1e-6, 1e-6, 1e-6]
dT = 0.010
for _ in range(sensorfusion.MIN_GYRO_SAMPLES):
self.fusion.handleAcc(acc)
self.fusion.handleMag(mag)
self.fusion.handleGyro(gyro, dT)
if self.fusion.hasEstimate():
matrix = self.fusion.getRotationMatrix()
attitude = self.fusion.getAttitude()
axis_angle = sensorfusion.quaternion_to_axis_angle(*attitude)
angle = math.acos(matrix[0]) * 180. / math.pi
# angle = (360 - angle) if matrix[6] < 0 else angle
# angle = axis_angle[0]
is_nan = angle != angle
angles[angle if not is_nan else 'nan'].append(mag)
print 'nan', angles.pop('nan')
print min(angles.keys()), max(angles.keys())
for angle in sorted(angles):
xs = [x for x, y, z in angles[angle]]
ys = [y for x, y, z in angles[angle]]
zs = [z for x, y, z in angles[angle]]
print angle, (min(xs), max(xs)), (min(ys), max(ys)), (min(zs), max(zs)), angles[angle]
raise Exception('END')