corrected integration for initial velocity and position

cleaned up code
dkt01 · May 13, 2015 · 5149bfc · 5149bfc
1 parent 8a461e0
commit 5149bfc
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Showing 6 changed files with 18 additions and 58 deletions.
diff --git a/.idea/gradle.xml b/.idea/gradle.xml
diff --git a/.idea/misc.xml b/.idea/misc.xml
diff --git a/NextStop.iml b/NextStop.iml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<module external.linked.project.id="NextStop" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="GRADLE" external.system.module.group="" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
+<module external.linked.project.id="nextstop" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$" external.system.id="GRADLE" external.system.module.group="" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
   <component name="FacetManager">
     <facet type="java-gradle" name="Java-Gradle">
       <configuration>

diff --git a/app/app.iml b/app/app.iml
@@ -1,5 +1,5 @@
 <?xml version="1.0" encoding="UTF-8"?>
-<module external.linked.project.id=":app" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$/.." external.system.id="GRADLE" external.system.module.group="NextStop" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
+<module external.linked.project.id=":app" external.linked.project.path="$MODULE_DIR$" external.root.project.path="$MODULE_DIR$/.." external.system.id="GRADLE" external.system.module.group="nextstop" external.system.module.version="unspecified" type="JAVA_MODULE" version="4">
   <component name="FacetManager">
     <facet type="android-gradle" name="Android-Gradle">
       <configuration>
@@ -86,12 +86,12 @@
     </content>
     <orderEntry type="jdk" jdkName="Android API 21 Platform" jdkType="Android SDK" />
     <orderEntry type="sourceFolder" forTests="false" />
-    <orderEntry type="library" exported="" name="dropbox-android-sdk-1.6.3" level="project" />
-    <orderEntry type="library" exported="" name="recyclerview-v7-21.0.3" level="project" />
+    <orderEntry type="library" exported="" name="appcompat-v7-22.1.1" level="project" />
     <orderEntry type="library" exported="" name="json_simple-1.1" level="project" />
-    <orderEntry type="library" exported="" name="support-annotations-22.1.1" level="project" />
-    <orderEntry type="library" exported="" name="support-v4-22.1.1" level="project" />
     <orderEntry type="library" exported="" name="cardview-v7-21.0.3" level="project" />
-    <orderEntry type="library" exported="" name="appcompat-v7-22.1.1" level="project" />
+    <orderEntry type="library" exported="" name="recyclerview-v7-21.0.3" level="project" />
+    <orderEntry type="library" exported="" name="support-v4-22.1.1" level="project" />
+    <orderEntry type="library" exported="" name="support-annotations-22.1.1" level="project" />
+    <orderEntry type="library" exported="" name="dropbox-android-sdk-1.6.3" level="project" />
   </component>
 </module>
diff --git a/app/src/main/java/cjmaier2_dkturne2/nextstop/DedReck.java b/app/src/main/java/cjmaier2_dkturne2/nextstop/DedReck.java
@@ -38,12 +38,8 @@
 import java.util.List;
 import java.util.Locale;
 
-//below for CSV
-
-
 public class DedReck extends ActionBarActivity implements SensorEventListener, LocationListener {
 
-    private final int capture_speed = 0;
     //0: DELAY_FASTEST
     //1: DELAY_GAME
     //3: DELAY_NORMAL
@@ -245,19 +241,6 @@ protected void onResume()
         }
         if(LOC_ENABLED)
         {
-            // This seems to cause issues since different providers have
-            // different locations at the same time.
-//            for(String provider:lProviders)
-//                lManager.requestLocationUpdates(provider,50,0,this);
-//
-//            Location loc = null;
-//
-//            for(String provider:lProviders)
-//            {
-//                loc = lManager.getLastKnownLocation(provider);
-//                if(loc != null)
-//                    break;
-//            }
             lManager.requestLocationUpdates(lManager.GPS_PROVIDER,50,10,this);
             Location loc = lManager.getLastKnownLocation(lManager.GPS_PROVIDER);
             if(loc != null)
@@ -281,7 +264,6 @@ protected void onPause() {
         lManager.removeUpdates(this);
     }
 
-
     @Override
     public boolean onCreateOptionsMenu(Menu menu) {
         // Inflate the menu; this adds items to the action bar if it is present.
@@ -543,19 +525,6 @@ else if(a_x_data.size() == 5) {
             v_y = 0;
         }
 
-//        a_x = values[0]-a_x_off;
-//        a_y = values[1]-a_y_off;
-//        a_z = values[2]-a_z_off;
-        //accounting for gravity in acceleration: http://developer.android.com/reference/android/hardware/SensorEvent.html#values
-//        float alpha = 0.1f;
-//        a_x = values[0]*alpha + a_x*(1.0f-alpha);
-//        a_y = values[1]*alpha + a_y*(1.0f-alpha);
-//        a_z = values[2]*alpha + a_z*(1.0f-alpha);
-//
-//        a_x = values[0];
-//        a_y = values[1];
-//        a_z = values[2];
-
         //dead reckoning, with time in seconds
         dt = (new Double((event.timestamp - time_prev)/1000000000.0)).floatValue(); //double to float
 
@@ -564,32 +533,26 @@ else if(a_x_data.size() == 5) {
         }
         else if (dedreck_itr == 1) { //enough readings to get velocity
             dedreck_itr = 2;
-            v_x = (a_x - a_x_prev)*dt;
-            v_y = (a_y - a_y_prev)*dt;
-            v_z = (a_z - a_z_prev)*dt;
+            v_x = (a_x + a_x_prev)/2*dt;
+            v_y = (a_y + a_y_prev)/2*dt;
+            v_z = (a_z + a_z_prev)/2*dt;
         }
         else if (dedreck_itr == 2){ //enough readings to get velocity and position
             dedreck_itr = 3;
-            v_x = (a_x - a_x_prev)*dt;
-            v_y = (a_y - a_y_prev)*dt;
-            v_z = (a_z - a_z_prev)*dt;
-            p_x += (v_x - v_x_prev)*dt;
-            p_y += (v_y - v_y_prev)*dt;
-            p_z += (v_z - v_z_prev)*dt;
+            v_x = (a_x + a_x_prev)/2*dt;
+            v_y = (a_y + a_y_prev)/2*dt;
+            v_z = (a_z + a_z_prev)/2*dt;
+            p_x += (v_x + v_x_prev)/2*dt;
+            p_y += (v_y + v_y_prev)/2*dt;
+            p_z += (v_z + v_z_prev)/2*dt;
         }
         else {
-//            if((a_x-a_x_prev) > 0.1 || (a_x-a_x_prev) < -0.1) v_x += a_x*dt;
-//            if((a_y-a_y_prev) > 0.0 || (a_y-a_y_prev) < -0.1) v_y += a_y*dt;
-//            if((a_z-a_z_prev) > 0.0 || (a_z-a_z_prev) < -0.1) v_z += a_z*dt;
             if(Math.abs(a_x-a_x_prev) > 0.1) v_x += a_x*dt;
             if(Math.abs(a_y-a_y_prev) > 0.1) v_y += a_y*dt;
             if(Math.abs(a_z-a_z_prev) > 0.1) v_z += a_z*dt;
             p_x += v_x*dt;
             p_y += v_y*dt;
             p_z += v_z*dt;
-//            if(Math.abs(v_x-v_x_prev) > 0.003) p_x += v_x*dt;
-//            if(Math.abs(v_y-v_y_prev) > 0.003) p_y += v_y*dt;
-//            if(Math.abs(v_z-v_z_prev) > 0.003) p_z += v_z*dt;
         }
 
         p_net = (float) Math.sqrt(p_x*p_x+p_y*p_y); //not accounting for z direction

diff --git a/app/src/main/java/cjmaier2_dkturne2/nextstop/RoutePath.java b/app/src/main/java/cjmaier2_dkturne2/nextstop/RoutePath.java
@@ -4,9 +4,6 @@
 
 import java.util.List;
 
-/**
- * Created by David K Turner on 5/10/2015.
- */
 public class RoutePath {
     private List<Location> waypoints;
     private Location curPos;