SENSiOSOrientationDelegate Class Reference

#import <SENSiOSOrientationDelegate.h>

Inherits NSObject.

Instance Methods
(BOOL)	- start
(void)	- stop
(id)	- init [implementation]
(void)	- startMotionManager: [implementation]
	Starts the motion data update if the interval time > 0 else it stops. More...
(void)	- onDeviceMotionUpdate: [implementation]

Properties
std::function< void(float, float, float, float)>	updateCB

Private Attributes
CMMotionManager *	_motionManager
BOOL	_running

Detailed Description

Definition at line 4 of file SENSiOSOrientationDelegate.h.

Method Documentation

init

- (id) init

implementation

Definition at line 11 of file SENSiOSOrientationDelegate.mm.

{
    //Initialize the parent class(es) up the hierarchy and create self:
    self = [super init];
    //Initialize members (not necessary with ARC)
    _motionManager = nil;
    _running       = NO;
    if (self)
    {
        _motionManager = [[CMMotionManager alloc] init];
    }
 
    return self;
}

onDeviceMotionUpdate:

- (void) onDeviceMotionUpdate: (CMDeviceMotion*)  motion

implementation

Definition at line 11 of file SENSiOSOrientationDelegate.mm.

                            :(CMDeviceMotion*)motion
{
    CMDeviceMotion* motionData = _motionManager.deviceMotion;
    CMAttitude*     attitude   = motionData.attitude;
 
    //Get sensor rotation as quaternion. This quaternion describes a rotation relative to NWU-frame
    //(see: https://developer.apple.com/documentation/coremotion/getting_processed_device_motion_data/understanding_reference_frames_and_device_attitude)
    CMQuaternion q = attitude.quaternion;
 
    /*
    //test w.r.t. to NWU-frame
    if(_updateCB)
        _updateCB(q.x, q.y, q.z, q.w);
 
    printf("Rotation: xRot %f yRot %f zRot %f\n", attitude.pitch * SENS_RAD2DEG, attitude.roll * SENS_RAD2DEG, attitude.yaw * SENS_RAD2DEG);
    */
 
    //(https://developer.apple.com/documentation/coremotion/getting_processed_device-motion_data/understanding_reference_frames_and_device_attitude)
    //We configure CMMotionManager with xMagneticNorthZVertical which means its a frame, where x points north, y points west and z points up (NWU).
    //We add rotation of 90 deg. around z-axis to relate the sensor rotation to an ENU-frame (as in Android)
    GLKQuaternion qNWU    = GLKQuaternionMake(q.x, q.y, q.z, q.w);
    GLKQuaternion qRot90Z = GLKQuaternionMakeWithAngleAndAxis(GLKMathDegreesToRadians(90), 0, 0, 1);
    GLKQuaternion qENU    = GLKQuaternionMultiply(qRot90Z, qNWU);
 
    // Send quaternion
    if (_updateCB)
        _updateCB(qENU.q[0], qENU.q[1], qENU.q[2], qENU.q[3]);
}

start

- (BOOL) start

Definition at line 11 of file SENSiOSOrientationDelegate.mm.

{
    if (_motionManager == nil)
        return NO;
 
    if (!_running)
    {
        [self startMotionManager:1.0 / 20.0];
        //[_motionManager startDeviceMotionUpdates];
        _running = true;
        printf("Starting Motion Manager\n");
    }
 
    return YES;
}

startMotionManager:

- (void) startMotionManager: (double)  intervalTimeSEC

implementation

Starts the motion data update if the interval time > 0 else it stops.

Definition at line 11 of file SENSiOSOrientationDelegate.mm.

                          :(double)intervalTimeSEC
{
    if ([_motionManager isDeviceMotionAvailable] == YES)
    {
        _motionManager.deviceMotionUpdateInterval = intervalTimeSEC;
 
        // See also: https://developer.apple.com/documentation/coremotion/getting_processed_device_motion_data/understanding_reference_frames_and_device_attitude?language=objc
 
        // In case the compass calibration is turned off on the iOS device,
        // the following code receives an error with code 102 - true north not available.
        // This is why we use the magnetic north here.
        [_motionManager startDeviceMotionUpdatesUsingReferenceFrame:CMAttitudeReferenceFrameXMagneticNorthZVertical
                                                            toQueue:[NSOperationQueue currentQueue]
                                                        withHandler:^(CMDeviceMotion* motion, NSError* error) {
                                                          [self performSelectorOnMainThread:@selector(onDeviceMotionUpdate:)
                                                                                 withObject:motion
                                                                              waitUntilDone:YES];
                                                        }];
    }
    else
    {
        [_motionManager stopDeviceMotionUpdates];
    }
}

stop

- (void) stop

Definition at line 11 of file SENSiOSOrientationDelegate.mm.

{
    if (_running)
    {
        [_motionManager stopDeviceMotionUpdates];
        _running = false;
        printf("Stopping Location Manager\n");
    }
}

Member Data Documentation

_motionManager

- (CMMotionManager*) _motionManager

private

Definition at line 10 of file SENSiOSOrientationDelegate.mm.

_running

- (BOOL) _running

private

Definition at line 11 of file SENSiOSOrientationDelegate.mm.

Property Documentation

updateCB

- (function<void(float, float, float, float)>) SENSiOSOrientationDelegate:

readwritenonatomicassign

Definition at line 9 of file SENSiOSOrientationDelegate.h.

---

The documentation for this class was generated from the following files:

• SENSiOSOrientationDelegate.h
• SENSiOSOrientationDelegate.mm