@wemap/providers 9.1.1 → 9.2.0

package/src/providers/steps/StepDetectorMinMaxPeaks3.js

@@ -0,0 +1,108 @@
+import { Constants as GeoConstants } from '@wemap/geo';
+import { Quaternion } from '@wemap/maths';
+
+import EventType from '../../events/EventType.js';
+import RelativeAttitudeFromInertial from '../attitude/relative/RelativeAttitudeFromInertial.js';
+import Accelerometer from '../imu/Accelerometer.js';
+import Gyroscope from '../imu/Gyroscope.js';
+import Provider from '../Provider.js';
+import StepDetectionMinMaxPeaks3 from './StepDetectionMinMaxPeaks3.js';
+
+
+class StepDetectorMinMaxPeaks3 extends Provider {
+
+    constructor() {
+        super();
+        this.stepDetector = new StepDetectionMinMaxPeaks3();
+    }
+
+    /**
+    * @override
+    */
+    static get pname() {
+        return 'StepDetectorMinMaxPeaks3';
+    }
+
+    /**
+     * @override
+     */
+    get _availability() {
+        return Promise.all([
+            Accelerometer.availability,
+            Gyroscope.availability,
+            RelativeAttitudeFromInertial.availability
+        ]);
+    }
+
+    /**
+     * @override
+     */
+    start() {
+
+        this.numOfSteps = 0;
+
+        this.accelerometerProviderId = Accelerometer.addEventListener(
+            events => this.onAccelerometerEvent(events[0]),
+            error => this.notifyError(error)
+        );
+
+        this.gyroscopeProviderId = Gyroscope.addEventListener(
+            events => (this.angularRateEvent = events[0]),
+            error => this.notifyError(error)
+        );
+
+        this.attitudeProviderId = RelativeAttitudeFromInertial.addEventListener(
+            events => (this.attitudeEvent = events[0]),
+            error => this.notifyError(error)
+        );
+    }
+
+    /**
+     * @override
+     */
+    stop() {
+        Accelerometer.removeEventListener(this.accelerometerProviderId);
+        Gyroscope.removeEventListener(this.gyroscopeProviderId);
+        RelativeAttitudeFromInertial.removeEventListener(this.attitudeProviderId);
+    }
+
+    onAccelerometerEvent(accelerationEvent) {
+
+        if (!this.attitudeEvent || !this.angularRateEvent) {
+            return;
+        }
+
+        const {
+            values: acceleration, timestamp
+        } = accelerationEvent.data;
+
+        /**
+         * Step Detection and Step Size Detection
+         */
+        const linearAcc = this.constructor.computeLinearAcceleration(
+            this.attitudeEvent.data.quaternion, acceleration);
+        const stepDetected = this.stepDetector.compute(timestamp, linearAcc, this.angularRateEvent.data.values);
+
+        if (stepDetected) {
+            const size = this.stepDetector.lastStepSize;
+            this.numOfSteps++;
+            this.notify(this.createEvent(
+                EventType.Step, {
+                    size,
+                    number: this.numOfSteps
+                },
+                [accelerationEvent, this.angularRateEvent, this.attitudeEvent]
+            ));
+        }
+    }
+
+    // Linear acceleration in ENU
+    static computeLinearAcceleration(quaternion, acc) {
+        const linearAcc = Quaternion.rotateMatlab(Quaternion.inverse(quaternion), acc);
+        linearAcc[2] -= GeoConstants.EARTH_GRAVITY;
+        return linearAcc;
+    }
+
+}
+
+export default new StepDetectorMinMaxPeaks3();