Test data

[ivan866]

Quaternion=[1, 0, 0, 0] argument of madgwick filter effectively rotates the data 90 degress around X axis:

from skinematics.sensors.xsens import XSens
from skinematics.view import Orientation_OGL

in_file = r'd:\myProject\venv\Lib\site-packages\skinematics\tests\data\data_xsens.txt'

sensor = XSens(in_file=in_file, q_type='madgwick')

viewer=Orientation_OGL(quat_in=sensor.quat)
viewer.run()

[ivan866]

What are the conversion factors in polulu.py? What are they for?

[thomas-haslwanter]

Factors to convert the digital numbers to SI-values. I have taken them from a Swiss student of mine, and not checked any documentation. It seems to be a cheaper sensor.

Best regards th

From: Ivan [mailto:notifications@github.com] Sent: Saturday, January 20, 2018 5:36 PM To: thomas-haslwanter/scikit-kinematics scikit-kinematics@noreply.github.com Cc: Subscribed subscribed@noreply.github.com Subject: Re: [thomas-haslwanter/scikit-kinematics] Test data (#18)

What are the conversion factors in polulu.py? What are they for?

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[thomas-haslwanter]

In that experiment the sensor was strapped to the side of the head, and thus rotated by 90 deg. So this is not due to the Madgwick filter, but due to the paradigm.

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Prof. (FH) PD Dr. Thomas Haslwanter School of Applied Health and Social Sciences University of Applied Sciences Upper Austria FH OÖ Studienbetriebs GmbH Garnisonstraße 21 4020 Linz/Austria Tel.: +43 (0)5 0804 -52170 Fax: +43 (0)5 0804 -52171 E-Mail: Thomas.Haslwanter@fh-linz.at Web: bim.fh-linz.at or work.thaslwanter.at

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From: Ivan notifications@github.com Sent: Saturday, January 20, 2018 2:53 PM To: thomas-haslwanter/scikit-kinematics Cc: Subscribed Subject: [thomas-haslwanter/scikit-kinematics] Test data (#18)

madgwick filter somehow rotates the data 90 degress around X axis:

from skinematics.sensors.xsens import XSens from skinematics.view import Orientation_OGL

in_file = r'd:\myProject\venv\Lib\site-packages\skinematics\tests\data\data_xsens.txt'

sensor = XSens(in_file=in_file, q_type='madgwick')

viewer=Orientation_OGL(quat_in=sensor.quat) viewer.run()

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[thomas-haslwanter]

In that experiment the sensor was strapped to the side of the head, and thus rotated by 90 deg. So this is not due to the Madgwick filter, but due to the paradigm.