Package 'imuf'

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 list of numeric 4-vectors each of which a unit quaternion (w,x,y,z)
dt	A numeric of time duration in milli-seconds
width, height	width and height of animate_imu htmlwidget specified in any valid CSS size unit
elementId	string id as a valid CSS element id.

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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 '100%', '400px', 'auto') or a number, which will be coerced to a string and have 'px' appended.
expr	An expression that generates a animate_imu
env	The environment in which to evaluate expr.
quoted	Is expr a quoted expression (with quote())? This is useful if you want to save an expression in a variable.

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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)

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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 vector of numeric 4-vectors each of which a unit quaternion (w,x,y,z)
width, height	width and height of imu_object htmlwidget specified in any valid CSS size unit
elementId	string id as a valid CSS element id.

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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 '100%', '400px', 'auto') or a number, which will be coerced to a string and have 'px' appended.
expr	An expression that generates a imu_object
env	The environment in which to evaluate expr.
quoted	Is expr a quoted expression (with quote())? This is useful if you want to save an expression in a variable.

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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

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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)

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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/

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