| # Copyright 2024 The Android Open Source Project |
| # |
| # Licensed under the Apache License, Version 2.0 (the "License"); |
| # you may not use this file except in compliance with the License. |
| # You may obtain a copy of the License at |
| # |
| # http://www.apache.org/licenses/LICENSE-2.0 |
| # |
| # Unless required by applicable law or agreed to in writing, software |
| # distributed under the License is distributed on an "AS IS" BASIS, |
| # WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. |
| # See the License for the specific language governing permissions and |
| # limitations under the License. |
| """Utility functions for IMU data processing.""" |
| |
| |
| def calc_rv_drift(data): |
| """Calculate data drift accounting for +/-180 degrees for stationary DUT. |
| |
| Args: |
| data: list of +180/-180 rotation vector data |
| |
| Returns: |
| list of data-data[0] drift |
| """ |
| data_360 = [i % 360 for i in data] |
| drift = [] |
| for d in data_360: |
| if d - data_360[0] <= -180: |
| drift.append(d - data_360[0] + 360) |
| elif d - data_360[0] > 180: |
| drift.append(d - data_360[0] - 360) |
| else: |
| drift.append(d - data_360[0]) |
| return drift |
