v2.0

* Code clean up.
KalebKE · Apr 6, 2020 · 93d0aed · 93d0aed
1 parent b052943
commit 93d0aed
Show file tree

Hide file tree

Showing 16 changed files with 39 additions and 44 deletions.
diff --git a/fsensor/src/main/java/com/kircherelectronics/fsensor/filter/averaging/MeanFilter.java b/fsensor/src/main/java/com/kircherelectronics/fsensor/filter/averaging/MeanFilter.java
@@ -37,7 +37,7 @@ public class MeanFilter extends AveragingFilter {
 
     private static final String tag = MeanFilter.class.getSimpleName();
 
-    private ArrayDeque<float[]> values;
+    private final ArrayDeque<float[]> values;
     private float[] output;
 
     /**

diff --git a/fsensor/src/main/java/com/kircherelectronics/fsensor/filter/averaging/MedianFilter.java b/fsensor/src/main/java/com/kircherelectronics/fsensor/filter/averaging/MedianFilter.java
@@ -42,7 +42,7 @@ public class MedianFilter extends AveragingFilter {
     private static final String tag = MedianFilter.class
             .getSimpleName();
 
-    private ArrayDeque<float[]> values;
+    private final ArrayDeque<float[]> values;
     private float[] output;
 
 

diff --git a/...com/kircherelectronics/fsensor/filter/gyroscope/fusion/kalman/OrientationFusedKalman.java b/...com/kircherelectronics/fsensor/filter/gyroscope/fusion/kalman/OrientationFusedKalman.java
@@ -61,15 +61,15 @@ public class OrientationFusedKalman extends OrientationFused {
 
     private static final String TAG = OrientationFusedComplementary.class.getSimpleName();
 
-    private RotationKalmanFilter kalmanFilter;
-    private AtomicBoolean run;
+    private final RotationKalmanFilter kalmanFilter;
+    private final AtomicBoolean run;
     private volatile float dT;
     private volatile float[] output = new float[3];
     private Thread thread;
 
     private volatile Quaternion rotationVectorAccelerationMagnetic;
-    private double[] vectorGyroscope = new double[4];
-    private double[] vectorAccelerationMagnetic = new double[4];
+    private final double[] vectorGyroscope = new double[4];
+    private final double[] vectorAccelerationMagnetic = new double[4];
 
     public OrientationFusedKalman() {
         this(DEFAULT_TIME_CONSTANT);

diff --git a/...erelectronics/fsensor/filter/gyroscope/fusion/kalman/filter/RotationMeasurementModel.java b/...erelectronics/fsensor/filter/gyroscope/fusion/kalman/filter/RotationMeasurementModel.java
@@ -21,7 +21,7 @@
  */
 public class RotationMeasurementModel implements MeasurementModel
 {
-	private double noiseCoefficient  = 0.001;
+	private final double noiseCoefficient  = 0.001;
 
 	/**
 	 * The measurement matrix, used to associate the measurement vector to the

diff --git a/...r/src/main/java/com/kircherelectronics/fsensor/linearacceleration/LinearAcceleration.java b/...r/src/main/java/com/kircherelectronics/fsensor/linearacceleration/LinearAcceleration.java
@@ -30,10 +30,9 @@ public abstract class LinearAcceleration {
 
     private static final String tag = LinearAcceleration.class.getSimpleName();
 
-    private float[] output = new float[]
-            {0, 0, 0};
+    private final float[] output = new float[]{0, 0, 0};
 
-    protected BaseFilter filter;
+    protected final BaseFilter filter;
 
     public LinearAcceleration(BaseFilter filter) {
         this.filter = filter;

diff --git a/fsensor/src/main/java/com/kircherelectronics/fsensor/observer/SensorSubject.java b/fsensor/src/main/java/com/kircherelectronics/fsensor/observer/SensorSubject.java
@@ -4,7 +4,7 @@
 import java.util.List;
 
 public class SensorSubject {
-    private List<SensorObserver> observers = new ArrayList<>();
+    private final List<SensorObserver> observers = new ArrayList<>();
 
     public interface SensorObserver {
         void onSensorChanged(float[] values);

diff --git a/.../src/main/java/com/kircherelectronics/fsensor/sensor/acceleration/AccelerationSensor.java b/.../src/main/java/com/kircherelectronics/fsensor/sensor/acceleration/AccelerationSensor.java
@@ -28,8 +28,8 @@
 public class AccelerationSensor implements FSensor {
     private static final String TAG = AccelerationSensor.class.getSimpleName();
 
-    private SensorManager sensorManager;
-    private SimpleSensorListener listener;
+    private final SensorManager sensorManager;
+    private final SimpleSensorListener listener;
     private float startTime = 0;
     private int count = 0;
 
@@ -38,7 +38,7 @@ public class AccelerationSensor implements FSensor {
 
     private int sensorDelay = SensorManager.SENSOR_DELAY_FASTEST;
 
-    private SensorSubject sensorSubject;
+    private final SensorSubject sensorSubject;
 
     public AccelerationSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);

diff --git a/...kircherelectronics/fsensor/sensor/acceleration/ComplementaryLinearAccelerationSensor.java b/...kircherelectronics/fsensor/sensor/acceleration/ComplementaryLinearAccelerationSensor.java
@@ -32,8 +32,8 @@
 public class ComplementaryLinearAccelerationSensor implements FSensor {
     private static final String TAG = ComplementaryLinearAccelerationSensor.class.getSimpleName();
 
-    private SensorManager sensorManager;
-    private SimpleSensorListener listener;
+    private final SensorManager sensorManager;
+    private final SimpleSensorListener listener;
     private float startTime = 0;
     private int count = 0;
 
@@ -49,7 +49,7 @@ public class ComplementaryLinearAccelerationSensor implements FSensor {
     private int sensorDelay = SensorManager.SENSOR_DELAY_FASTEST;
     private int sensorType = Sensor.TYPE_GYROSCOPE;
 
-    private SensorSubject sensorSubject;
+    private final SensorSubject sensorSubject;
 
     public ComplementaryLinearAccelerationSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
@@ -127,6 +127,7 @@ public void reset() {
         stop();
         magnetic = new float[3];
         acceleration = new float[3];
+        rawAcceleration = new float[3];
         rotation = new float[3];
         output = new float[4];
         listener.reset();

diff --git a/...va/com/kircherelectronics/fsensor/sensor/acceleration/KalmanLinearAccelerationSensor.java b/...va/com/kircherelectronics/fsensor/sensor/acceleration/KalmanLinearAccelerationSensor.java
@@ -32,8 +32,8 @@
 public class KalmanLinearAccelerationSensor implements FSensor {
     private static final String TAG = KalmanLinearAccelerationSensor.class.getSimpleName();
 
-    private SensorManager sensorManager;
-    private SimpleSensorListener listener;
+    private final SensorManager sensorManager;
+    private final SimpleSensorListener listener;
     private float startTime = 0;
     private int count = 0;
 
@@ -49,7 +49,7 @@ public class KalmanLinearAccelerationSensor implements FSensor {
     private int sensorDelay = SensorManager.SENSOR_DELAY_FASTEST;
     private int sensorType = Sensor.TYPE_GYROSCOPE;
 
-    private SensorSubject sensorSubject;
+    private final SensorSubject sensorSubject;
 
     public KalmanLinearAccelerationSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
@@ -117,6 +117,7 @@ public void reset() {
         stop();
         magnetic = new float[3];
         acceleration = new float[3];
+        rawAcceleration = new float[3];
         rotation = new float[3];
         output = new float[4];
         listener.reset();

diff --git a/...ain/java/com/kircherelectronics/fsensor/sensor/acceleration/LinearAccelerationSensor.java b/...ain/java/com/kircherelectronics/fsensor/sensor/acceleration/LinearAccelerationSensor.java
@@ -28,8 +28,8 @@
 public class LinearAccelerationSensor implements FSensor {
     private static final String TAG = LinearAccelerationSensor.class.getSimpleName();
 
-    private SensorManager sensorManager;
-    private SimpleSensorListener listener;
+    private final SensorManager sensorManager;
+    private final SimpleSensorListener listener;
     private float startTime = 0;
     private int count = 0;
 
@@ -38,7 +38,7 @@ public class LinearAccelerationSensor implements FSensor {
 
     private int sensorDelay = SensorManager.SENSOR_DELAY_FASTEST;
 
-    private SensorSubject sensorSubject;
+    private final SensorSubject sensorSubject;
 
     public LinearAccelerationSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);

diff --git a/...a/com/kircherelectronics/fsensor/sensor/acceleration/LowPassLinearAccelerationSensor.java b/...a/com/kircherelectronics/fsensor/sensor/acceleration/LowPassLinearAccelerationSensor.java
@@ -31,8 +31,8 @@
 public class LowPassLinearAccelerationSensor implements FSensor {
     private static final String TAG = LowPassLinearAccelerationSensor.class.getSimpleName();
 
-    private SensorManager sensorManager;
-    private SimpleSensorListener listener;
+    private final SensorManager sensorManager;
+    private final SimpleSensorListener listener;
     private float startTime = 0;
     private int count = 0;
 
@@ -46,7 +46,7 @@ public class LowPassLinearAccelerationSensor implements FSensor {
 
     private int sensorDelay = SensorManager.SENSOR_DELAY_FASTEST;
 
-    private SensorSubject sensorSubject;
+    private final SensorSubject sensorSubject;
 
     public LowPassLinearAccelerationSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);
@@ -103,6 +103,7 @@ public void setFSensorLpfLinearAccelerationTimeConstant(float timeConstant) {
     public void reset() {
         stop();
         acceleration = new float[3];
+        rawAcceleration = new float[3];
         output = new float[4];
         start();
     }

diff --git a/...in/java/com/kircherelectronics/fsensor/sensor/gyroscope/ComplementaryGyroscopeSensor.java b/...in/java/com/kircherelectronics/fsensor/sensor/gyroscope/ComplementaryGyroscopeSensor.java
@@ -30,8 +30,8 @@
 public class ComplementaryGyroscopeSensor implements FSensor {
     private static final String TAG = ComplementaryGyroscopeSensor.class.getSimpleName();
 
-    private SensorManager sensorManager;
-    private SimpleSensorListener listener;
+    private final SensorManager sensorManager;
+    private final SimpleSensorListener listener;
     private float startTime = 0;
     private int count = 0;
 
@@ -45,7 +45,7 @@ public class ComplementaryGyroscopeSensor implements FSensor {
     private int sensorDelay = SensorManager.SENSOR_DELAY_FASTEST;
     private int sensorType = Sensor.TYPE_GYROSCOPE;
 
-    private SensorSubject sensorSubject;
+    private final SensorSubject sensorSubject;
 
     public ComplementaryGyroscopeSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);

diff --git a/fsensor/src/main/java/com/kircherelectronics/fsensor/sensor/gyroscope/GyroscopeSensor.java b/fsensor/src/main/java/com/kircherelectronics/fsensor/sensor/gyroscope/GyroscopeSensor.java
@@ -31,8 +31,8 @@ public class GyroscopeSensor implements FSensor {
 
     private static final String TAG = GyroscopeSensor.class.getSimpleName();
 
-    private SensorManager sensorManager;
-    private SimpleSensorListener listener;
+    private final SensorManager sensorManager;
+    private final SimpleSensorListener listener;
     private float startTime = 0;
     private int count = 0;
 
@@ -46,7 +46,7 @@ public class GyroscopeSensor implements FSensor {
     private int sensorDelay = SensorManager.SENSOR_DELAY_FASTEST;
     private int sensorType = Sensor.TYPE_GYROSCOPE;
 
-    private SensorSubject sensorSubject;
+    private final SensorSubject sensorSubject;
 
     public GyroscopeSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);

diff --git a/.../src/main/java/com/kircherelectronics/fsensor/sensor/gyroscope/KalmanGyroscopeSensor.java b/.../src/main/java/com/kircherelectronics/fsensor/sensor/gyroscope/KalmanGyroscopeSensor.java
@@ -30,8 +30,8 @@
 public class KalmanGyroscopeSensor implements FSensor {
     private static final String TAG = KalmanGyroscopeSensor.class.getSimpleName();
 
-    private SensorManager sensorManager;
-    private SimpleSensorListener listener;
+    private final SensorManager sensorManager;
+    private final SimpleSensorListener listener;
     private float startTime = 0;
     private int count = 0;
 
@@ -45,7 +45,7 @@ public class KalmanGyroscopeSensor implements FSensor {
     private int sensorDelay = SensorManager.SENSOR_DELAY_FASTEST;
     private int sensorType = Sensor.TYPE_GYROSCOPE;
 
-    private SensorSubject sensorSubject;
+    private final SensorSubject sensorSubject;
 
     public KalmanGyroscopeSensor(Context context) {
         this.sensorManager = (SensorManager) context.getSystemService(Context.SENSOR_SERVICE);

diff --git a/fsensor/src/main/java/com/kircherelectronics/fsensor/util/gravity/GravityUtil.java b/fsensor/src/main/java/com/kircherelectronics/fsensor/util/gravity/GravityUtil.java
@@ -1,9 +1,6 @@
 package com.kircherelectronics.fsensor.util.gravity;
 
 import android.hardware.SensorManager;
-import android.util.Log;
-
-import java.util.Arrays;
 
 /*
  * Copyright 2018, Kircher Electronics, LLC

diff --git a/fsensor/src/main/java/com/kircherelectronics/fsensor/util/offset/FitPoints.java b/fsensor/src/main/java/com/kircherelectronics/fsensor/util/offset/FitPoints.java
@@ -162,9 +162,7 @@ private RealVector solveSystem(ArrayList<ThreeSpacePoint> points) {
         RealMatrix dtdi = solver.getInverse();
 
         // v = (( d' * d )^-1) * ( d' * ones.mapAddToSelf(1));
-        RealVector v = dtdi.operate(dtOnes);
-
-        return v;
+        return dtdi.operate(dtOnes);
     }
 
     /**
@@ -245,9 +243,7 @@ private RealMatrix translateToCenter(RealVector center, RealMatrix a) {
         t.setSubMatrix(centerMatrix.getData(), 3, 0);
 
         // Translate to the offset.
-        RealMatrix r = t.multiply(a).multiply(t.transpose());
-
-        return r;
+        return t.multiply(a).multiply(t.transpose());
     }
 
     /**