| // Copyright 2017 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_LINEAR_ACCELERATION_FUSION_ALGORITHM_USING_ACCELEROMETER_H_ |
| #define SERVICES_DEVICE_GENERIC_SENSOR_LINEAR_ACCELERATION_FUSION_ALGORITHM_USING_ACCELEROMETER_H_ |
| |
| #include "base/macros.h" |
| #include "services/device/generic_sensor/platform_sensor_fusion_algorithm.h" |
| |
| namespace device { |
| |
| // Algotithm that obtains linear acceleration values from data provided by |
| // accelerometer sensor. Simple low-pass filter is used to isolate gravity |
| // and substract it from accelerometer data to get linear acceleration. |
| class LinearAccelerationFusionAlgorithmUsingAccelerometer final |
| : public PlatformSensorFusionAlgorithm { |
| public: |
| LinearAccelerationFusionAlgorithmUsingAccelerometer(); |
| ~LinearAccelerationFusionAlgorithmUsingAccelerometer() override; |
| |
| void SetFrequency(double frequency) override; |
| void Reset() override; |
| |
| protected: |
| bool GetFusedDataInternal(mojom::SensorType which_sensor_changed, |
| SensorReading* fused_reading) override; |
| |
| private: |
| unsigned long reading_updates_count_; |
| // The time constant for low-pass filter. |
| double time_constant_; |
| double initial_timestamp_; |
| double gravity_x_; |
| double gravity_y_; |
| double gravity_z_; |
| |
| DISALLOW_COPY_AND_ASSIGN(LinearAccelerationFusionAlgorithmUsingAccelerometer); |
| }; |
| |
| } // namespace device |
| |
| #endif // SERVICES_DEVICE_GENERIC_SENSOR_LINEAR_ACCELERATION_FUSION_ALGORITHM_USING_ACCELEROMETER_H_ |