gpsinertialpose.js
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arcs_module(
function(ARCS) {
var GPSInertialPose = new ARCS.Component(
function() {
var id = 0;
var pose = {
position : [ 0, 0, 0],
rotation : [ [ 1, 0, 0 ], [ 0, 1, 0 ], [ 0, 0, 1 ] ]
};
var cos = Math.cos;
var sin = Math.sin;
var meterToDegree = 0.00001;
this.setId = function(identifier) {
id = identifier;
};
this.setPosition = function(longitude, latitude) {
pose.position = [ longitude, latitude, 1.2*meterToDegree ];
this.emit('sendPose', [{ id: id, pose : pose}]);
};
// this function computes the rotation matrix according to
// https://w3c.github.io/deviceorientation/spec-source-orientation.html
this.setOrientation = function(orientation) {
var alpha = orientation.alpha;
var beta = orientation.beta;
var gamma = orientation.gamma;
pose.rotation = [[
cos(alpha)*cos(gamma) - sin(alpha)*sin(beta)*sin(gamma),
-cos(beta)*sin(alpha),
cos(gamma)*sin(alpha)*sin(beta) + cos(alpha)*sin(gamma)
], [
cos(gamma)*sin(alpha) + cos(alpha)*sin(beta)*sin(gamma),
cos(alpha)*cos(beta),
sin(alpha)*sin(gamma) - cos(alpha)*cos(gamma)*sin(beta)
], [
-cos(beta)*sin(gamma),
sin(beta),
cos(beta)*cos(gamma)
]
];
this.emit('sendPose', [{ id: id, pose : pose}]);
};
},
['setPosition','setOrientation'],
['sendPose']
);
return { GPSInertialPose: GPSInertialPose };
}
);