Wiimote方向作为3D矢量 [英] Wiimote orientation as a 3D vector

问题描述

我想知道，由于Wiimote具有3个加速度计，是否有可能将加速度计的读数转换为3D向量.

I wonder if it is possible, as the Wiimote has 3 accelerometers, to convert the accelerometers readings to a 3D vector.

我知道提取俯仰/侧倾的技巧，但是它仅使用X和Z加速度计，并且存在万向节锁定问题.

I know the trick to extract pitch/roll, but it only uses the X and Z accelerometers, and has the gimbal lock problem.

我想要的是一个完整的3D矢量，可以将其转换为四元数旋转表示.

What I would like is a full 3D vector, that can be converted to a quaternion rotation representation.

推荐答案

进一步考虑，加速度计值是我要寻找的向量的组成部分...您只需要表达参考向量和此向量(作为四元数)之间的最短弧线.

Thinking about it further, the accelerometers values are the components of the vector I was looking for... You only have to express the shortest arc between a reference vector and this vector as a quaternion.

例如，如果accel是包含加速度计值的(归一化)向量:

For example, if accel is a (normalized) vector containing the accelerometer values:

reference = Vector3(0, 0, 1)
axis = crossp(accel, reference)
angle = acos(dotp(accel, reference))
q = Quaternion::from_xyzr(axis, angle)
rotation_matrix = q.matrix()

我选择{0，0，1}作为参考向量，因为它是静止位置"(桌子上的Wiimote指向您)上的加速度计的值.

I chose {0, 0, 1} as the reference vector, because it is the values of the accelerometers at "rest position" (Wiimote on a table, pointing towards you).

这提供了与X/Z加速度计的俯仰/滚动转换相同的运动，但是在垂直位置没有万向节锁定.

This gives the same kind of movements the X/Z accelerometers pitch/roll conversion does, but without gimbal lock at vertical positions.

唯一的问题是您没有获得有关在地球重力轴上旋转的信息...我想这就是MotionPlus的用途.

The only problem is you don't get information about rotations made on the earth gravity axis... I guess this is what the MotionPlus is made for.

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