| Title: | Estimate Orientation of an Inertial Measurement Unit |
| Version: | 0.6.0 |
| Description: | Estimate the orientation of an inertial measurement unit (IMU) with a 3-axis accelerometer and a 3-axis gyroscope using a complementary filter. 'imuf' takes an IMU's accelerometer and gyroscope readings, time duration, its initial orientation, and a gain factor as inputs, and returns an estimate of the IMU's final orientation. |
| License: | MIT + file LICENSE |
| Encoding: | UTF-8 |
| RoxygenNote: | 7.3.2 |
| LinkingTo: | Rcpp, RcppEigen |
| Imports: | htmltools, htmlwidgets, Rcpp |
| Suggests: | knitr, rmarkdown, testthat (≥ 3.0.0), purrr, ggplot2, shiny, serial, stringr |
| Config/testthat/edition: | 3 |
| URL: | https://github.com/gitboosting/imuf, https://gitboosting.github.io/imuf/ |
| BugReports: | https://github.com/gitboosting/imuf/issues |
| Depends: | R (≥ 2.10) |
| LazyData: | true |
| VignetteBuilder: | knitr |
| NeedsCompilation: | yes |
| Packaged: | 2025-02-12 15:07:36 UTC; mkcha |
| Author: | Felix Chan [aut, cre, cph], Ricardo Cabello [cph] ('three.js' JavaScript library) |
| Maintainer: | Felix Chan <chanfelix@gmail.com> |
| Repository: | CRAN |
| Date/Publication: | 2025-02-12 15:30:06 UTC |
imuf: Estimate Orientation of an Inertial Measurement Unit
Description
Estimate the orientation of an inertial measurement unit (IMU) with a 3-axis accelerometer and a 3-axis gyroscope using a complementary filter. 'imuf' takes an IMU's accelerometer and gyroscope readings, time duration, its initial orientation, and a gain factor as inputs, and returns an estimate of the IMU's final orientation.
Author(s)
Maintainer: Felix Chan chanfelix@gmail.com [copyright holder]
Other contributors:
Ricardo Cabello ('three.js' JavaScript library) [copyright holder]
See Also
Useful links:
Report bugs at https://github.com/gitboosting/imuf/issues
Animate movement of an inertial measurement unit
Description
Create interactive animated movements of an inertial measurement unit
Usage
animate_imu(data, dt, width = NULL, height = NULL, elementId = NULL)
Arguments
data |
A |
dt |
A numeric of time duration in milli-seconds |
width, height |
width and height of animate_imu htmlwidget
specified in any valid |
elementId |
|
Shiny bindings for animate_imu
Description
Output and render functions for using animate_imu within Shiny applications and interactive Rmd documents.
Usage
animate_imuOutput(outputId, width = "100%", height = "400px")
renderAnimate_imu(expr, env = parent.frame(), quoted = FALSE)
Arguments
outputId |
output variable to read from |
width, height |
Must be a valid CSS unit (like |
expr |
An expression that generates a animate_imu |
env |
The environment in which to evaluate |
quoted |
Is |
Update orientation with 3-axis acc and gyr data
Description
compUpdate() uses complementary filtering to update the orientation, given
an initial orientation, readings of a 3-axis accelerometer and a 3-axis
gyroscope. time duration, and a gain factor
Usage
compUpdate(acc, gyr, dt, initQuat, gain)
Arguments
acc |
A numeric 3-vector of 3-axis accelerometer readings in g |
gyr |
A numeric 3-vector of 3-axis gyroscope readings in rad/sec |
dt |
A numeric of time duration in sec |
initQuat |
A numeric 4-vector of the starting orientation in quaternion |
gain |
A numeric gain factor between 0 and 1 |
Value
A numeric 4-vector of the ending orientation in quaternion
Examples
compUpdate(c(0, 0, -1), c(1, 0, 0), 0.1, c(1, 0, 0, 0), 0.1)
Animate in real time movement of an inertial measurement unit in shiny
Description
Create in real time animated movements of an inertial measurement unit in shiny
Usage
imu_object(data = c(1, 0, 0, 0), width = NULL, height = NULL, elementId = NULL)
Arguments
data |
A |
width, height |
width and height of imu_object htmlwidget
specified in any valid |
elementId |
|
Shiny bindings for imu_object
Description
Output and render functions for using imu_object within Shiny applications and interactive Rmd documents.
Usage
imu_objectOutput(outputId, width = "100%", height = "400px")
renderImu_object(expr, env = parent.frame(), quoted = FALSE)
Arguments
outputId |
output variable to read from |
width, height |
Must be a valid CSS unit (like |
expr |
An expression that generates a imu_object |
env |
The environment in which to evaluate |
quoted |
Is |
Update a widget in shiny with an orientation
Description
Pair of functions used in conjunction to update a imu_object widget
Usage
imu_proxy(id, session = shiny::getDefaultReactiveDomain())
imu_send_data(proxy, data)
Arguments
id |
HTML element id that houses the html widget |
session |
shiny session - default to current session |
proxy |
imu_proxy output to be used as input to imu_send_data |
data |
a numeric unit 4-vector (quaternion) for the updated orientation |
Rotate a 3-vector by a quaternion
Description
rotV() rotates a 3-vector by a quaternion expressed as a unit 4-vector in
(w,x,y,z) convention
Usage
rotV(quat, vin)
Arguments
quat |
A numeric unit 4-vector (w,x,y,z) for a rotation quaternion |
vin |
A numeric 3-vector to be rotated by quat |
Value
A numeric 3-vector after the rotation
Examples
q <- c(cos(pi/4), sin(pi/4), 0, 0)
vin <- c(0, 1, 0)
rotV(q, vin)
University of Mannheim Real World Activities
Description
Accelerations and angular velocities captured by sensors of the mobile device situated on the shin of subject 1 while the subject was walking for 10 minutes
Usage
walking_shin_1
Format
walking_shin_1
A data frame with 31,946 rows and 6 columns of accelerometer and gyroscope measurements at 50 Hz
- acc_x, acc_y, acc_z
north, east and down acceleration in m/s^2
- gyr_x, gyr_y, gyr_z
angular velocity about north, east and down in rad/sec
Source
https://www.uni-mannheim.de/dws/research/projects/activity-recognition/dataset/dataset-realworld/s1/