| // Copyright 2018 The Chromium Authors. All rights reserved. |
| // Use of this source code is governed by a BSD-style license that can be |
| // found in the LICENSE file. |
| |
| #ifndef SERVICES_DEVICE_GENERIC_SENSOR_RELATIVE_ORIENTATION_EULER_ANGLES_FUSION_ALGORITHM_USING_ACCELEROMETER_AND_GYROSCOPE_H_ |
| #define SERVICES_DEVICE_GENERIC_SENSOR_RELATIVE_ORIENTATION_EULER_ANGLES_FUSION_ALGORITHM_USING_ACCELEROMETER_AND_GYROSCOPE_H_ |
| |
| #include "base/macros.h" |
| #include "services/device/generic_sensor/platform_sensor_fusion_algorithm.h" |
| |
| namespace device { |
| |
| class |
| RelativeOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndGyroscope |
| final : public PlatformSensorFusionAlgorithm { |
| public: |
| RelativeOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndGyroscope(); |
| ~RelativeOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndGyroscope() |
| override; |
| |
| void Reset() override; |
| |
| protected: |
| bool GetFusedDataInternal(mojom::SensorType which_sensor_changed, |
| SensorReading* fused_reading) override; |
| |
| private: |
| double timestamp_; |
| double alpha_; |
| double beta_; |
| double gamma_; |
| const double kBias = 0.98; |
| |
| DISALLOW_COPY_AND_ASSIGN( |
| RelativeOrientationEulerAnglesFusionAlgorithmUsingAccelerometerAndGyroscope); |
| }; |
| |
| } // namespace device |
| |
| #endif // SERVICES_DEVICE_GENERIC_SENSOR_RELATIVE_ORIENTATION_EULER_ANGLES_FUSION_ALGORITHM_USING_ACCELEROMETER_AND_GYROSCOPE_H_ |