当前位置：文江博客话题详情

旋转加速度计输出至新的“中性”位置适用于 iOS（和其他）。

发布于 2024-11-27 11:20:20 字数 1549 浏览 0 评论 0原文

我这里的功能完全按照我想要的方式工作。我的问题是，它似乎过于复杂，是否有更快/更好的方法来进行我在下面显示的pitchAngleRadians 计算？

显示代码...（以及两张图片）

第一张图片是如何从 iPad 自然地得出 atan2 计算，“pitchAngleRadians = atan2(accel[0], accel2);" （加速度计通常输出的内容）

我想要的是将“零”移动到新的角度，在第二张图像中，我将其移动了 -135 度作为示例。（代码中的所有内容都是弧度）因此例如本例中的变量“pitchNeutralAngle”是相当于（-135）度的弧度

此代码产生的正是我想要的变量“pitchAngleRadians”，这是第二个图像，但似乎太长了，而且这段代码处于紧密的运行循环中，所以如果我能让这段代码更干净/更快，它会加速。

我经历了一个中间步骤，将度数“范围”在0到360之间，这样跨越180度的边界就不会扰乱计算，但是我仍然必须将其恢复到0到180的形式，所以这就是下一个计算是什么。

我已经稍微测试了这段代码，它似乎确实有效。

//------------------------------------------------------------------------------------
- (void)accelerometer:(UIAccelerometer*)accelerometer didAccelerate:(UIAcceleration*)acceleration
{
    accel[0] = (acceleration.x * kFilteringFactor) + accel[0] * (1.0 - kFilteringFactor);
    accel[1] = (acceleration.y * kFilteringFactor) + accel[1] * (1.0 - kFilteringFactor);
    accel[2] = (acceleration.z * kFilteringFactor) + accel[2] * (1.0 - kFilteringFactor);

    pitchAngleRadians = (atan2(accel[0], accel[2]) - pitchNeutralAngle);
    pitchAngleRadians = pitchAngleRadians - floorf(pitchAngleRadians/6.28318f)*6.28318f;
    if (pitchAngleRadians > 3.14159) pitchAngleRadians = -6.28318f + pitchAngleRadians;

//float a = atan2(accel[0], accel[2]);
//NSLog(@"a = %f", a);
}

自然地从加速度计中出来

重新“中和”零角度后

原文

what i have here works exactly how i want it. My question is that it seems overly complex, is there a faster/better way of doing the pitchAngleRadians calculations i am showing below?

the code is shown... (along with two images)

the first image is how the atan2 calculation comes out of the iPad naturally, "pitchAngleRadians = atan2(accel[0], accel2);" (what the accelerometer puts out normally)

what i want is to shift "Zero" to a new degree angle, in the second image i've shifted it a -135 degrees as an example. (everything in code is radians) so for instance the variable "pitchNeutralAngle" in this example is the radian equivalent of (-135) degrees

this code produces exactly what i want for the variable "pitchAngleRadians", which is the second image, but seems too long, and this code is in a tight run loop, so it would speed up if i can get this cleaner/faster.

i go through an intermediate step of "ranging" the degrees between 0 and 360, so that crossing the boarder of 180 degrees does not mess up the calculation, however i still have to get it back to the 0 to 180 form, so that is what the next calculation is.

i've tested this code a little bit, and it does appear to work.

//------------------------------------------------------------------------------------
- (void)accelerometer:(UIAccelerometer*)accelerometer didAccelerate:(UIAcceleration*)acceleration
{
    accel[0] = (acceleration.x * kFilteringFactor) + accel[0] * (1.0 - kFilteringFactor);
    accel[1] = (acceleration.y * kFilteringFactor) + accel[1] * (1.0 - kFilteringFactor);
    accel[2] = (acceleration.z * kFilteringFactor) + accel[2] * (1.0 - kFilteringFactor);

    pitchAngleRadians = (atan2(accel[0], accel[2]) - pitchNeutralAngle);
    pitchAngleRadians = pitchAngleRadians - floorf(pitchAngleRadians/6.28318f)*6.28318f;
    if (pitchAngleRadians > 3.14159) pitchAngleRadians = -6.28318f + pitchAngleRadians;

//float a = atan2(accel[0], accel[2]);
//NSLog(@"a = %f", a);
}

naturally comes out of the accelerometer

after re-"neutralizing" zero angle

分享到QQ

分享到微博