added angular acceleration and maxSamples as proprieties

scenarios/OrientedTactileSensor/OrientedTactileSensor.scx

 <?xml version="1.0" encoding="utf-8"?>
-<scenario name="OrientedTactileSensor" lastChange="2017-03-02.12:01:34 PM" creation="2017-02-27.01:48:55 PM" globalConfigName="./config/global.cfg" package="RobotAPI">
+<scenario name="OrientedTactileSensor" lastChange="2017-03-02.01:03:18 PM" creation="2017-02-27.01:48:55 PM" globalConfigName="./config/global.cfg" package="RobotAPI">
 	<application name="OrientedTactileSensorUnitApp" instance="" package="RobotAPI"/>
 	<application name="OrientedTactileSensorUnitObserverApp" instance="" package="RobotAPI"/>
 </scenario>

scenarios/OrientedTactileSensor/config/OrientedTactileSensorUnitApp.cfg

@@ -106,6 +106,22 @@ ArmarX.OrientedTactileSensorUnit.CalibrationData = 65524 3 12 65534 65534 1 1208
 # ArmarX.OrientedTactileSensorUnit.ObjectName = ""
 
 
+# ArmarX.OrientedTactileSensorUnit.SamplesPressure:  number of pressure values to differentiate
+#  Attributes:
+#  - Default:            10
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.OrientedTactileSensorUnit.SamplesPressure = 10
+
+
+# ArmarX.OrientedTactileSensorUnit.SamplesRotation:  number of orientation values to differentiate
+#  Attributes:
+#  - Default:            10
+#  - Case sensitivity:   no
+#  - Required:           no
+ArmarX.OrientedTactileSensorUnit.SamplesRotation = 20
+
+
 # ArmarX.OrientedTactileSensorUnit.SerialInterfaceDevice:  The serial device the arduino is connected to.
 #  Attributes:
 #  - Default:            /dev/ttyACM0

source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.cpp

@@ -58,7 +58,7 @@ void OrientedTactileSensorUnitObserver::onExitObserver()
     //debugDrawerPrx->removeLineVisu("IMU", "acceleration");
 }
 
-void OrientedTactileSensorUnitObserver::reportSensorValues(int id, float pressure, float qw, float qx, float qy, float qz, float pressureRate, float rotationRate, const TimestampBasePtr& timestamp, const Ice::Current&)
+void OrientedTactileSensorUnitObserver::reportSensorValues(int id, float pressure, float qw, float qx, float qy, float qz, float pressureRate, float rotationRate, float accelerationRate, const TimestampBasePtr& timestamp, const Ice::Current&)
 {
     ScopedLock lock(dataMutex);
     TimestampVariantPtr timestampPtr = TimestampVariantPtr::dynamicCast(timestamp);
@@ -77,6 +77,7 @@ void OrientedTactileSensorUnitObserver::reportSensorValues(int id, float pressur
     offerOrUpdateDataField(channelName, "orientation", orientationQuaternion, "current oriantation");
     offerOrUpdateDataField(channelName, "rotationRate", Variant(rotationRate), "current rotationRate");
     offerOrUpdateDataField(channelName, "pressureRate", Variant(pressureRate), "current pressureRate");
+    offerOrUpdateDataField(channelName, "accelerationRate", Variant(accelerationRate), "current accelerationRate");
 }
 /* TODO: for integration with debug drawer
     updateChannel(device);

source/RobotAPI/components/units/OrientedTactileSensorUnitObserver.h

@@ -72,7 +72,7 @@ namespace armarx
         virtual void onConnectObserver();
         virtual void onExitObserver();
 
-        void reportSensorValues(int id, float pressure, float qw, float qx, float qy, float qz, float pressureRate, float rotationRate, const TimestampBasePtr& timestamp, const Ice::Current&);
+        void reportSensorValues(int id, float pressure, float qw, float qx, float qy, float qz, float pressureRate, float rotationRate, float accelerationRate, const TimestampBasePtr& timestamp, const Ice::Current&);
 
         /**
          * @see PropertyUser::createPropertyDefinitions()

source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.cpp

@@ -10,16 +10,18 @@ using namespace armarx;
 
 OrientedTactileSensorUnit::OrientedTactileSensorUnit()
 {
-    maxSamplesRotation = 10;
+
     sampleIndexRotation = 0;
-    maxSamplesPressure = 10;
     sampleIndexPressure = 0;
-    maxSamplesRotationRate = 10;
-    sampleIndexRotationRate = 0;
+    sampleIndexAcceleration = 0;
 }
 
 void OrientedTactileSensorUnit::onInitComponent()
 {
+    maxSamplesRotation = stoi(getProperty<std::string>("SamplesRotation").getValue());
+    maxSamplesPressure = stoi(getProperty<std::string>("SamplesPressure").getValue());
+    maxSamplesAcceleration = stoi(getProperty<std::string>("SamplesAcceleration").getValue());
+
     std::string topicName = getProperty<std::string>("TopicName").getValue();
     offeringTopic(topicName);
 
@@ -125,10 +127,11 @@ void OrientedTactileSensorUnit::run()
     {
         std::string line;
         getline(arduino, line, '\n');
-        ARMARX_INFO << line;
         SensorData data = getValues(line.c_str());
         IceUtil::Time now = IceUtil::Time::now();
         TimestampVariantPtr nowTimestamp = new TimestampVariant(now);
+
+        //compute rotationRate
         float rotationRate = 0;
         //condition for inverse quaternion
         if ((pow(data.qw, 2) + pow(data.qx, 2) + pow(data.qy, 2) + pow(data.qz, 2)) != 0)
@@ -152,6 +155,8 @@ void OrientedTactileSensorUnit::run()
                 rotationRate = aa.angle() / (sampleRotation.timestamp - oldsampleRotation.timestamp).toSecondsDouble();
             }
         }
+
+        //compute pressureRate
         float pressureRate = 0;
         PressureRate samplePressure;
         samplePressure.timestamp = now;
@@ -169,9 +174,30 @@ void OrientedTactileSensorUnit::run()
             oldsamplePressure.pressure = samplesPressure.at(sampleIndexPressure).pressure;
             pressureRate = (samplePressure.pressure - oldsamplePressure.pressure) / (samplePressure.timestamp - oldsamplePressure.timestamp).toSecondsDouble();
         }
+
+        //compute accceleration Rate
+        float accelerationRate = 0;
+        AccelerationRate sampleAcceleration;
+        sampleAcceleration.timestamp = now;
+        sampleAcceleration.rotationRate = rotationRate;
+        if (samplesAcceleration.size() < maxSamplesAcceleration)
+        {
+            samplesAcceleration.push_back(sampleAcceleration);
+        }
+        else
+        {
+            samplesAcceleration[sampleIndexAcceleration] = sampleAcceleration;
+            sampleIndexAcceleration = (sampleIndexAcceleration + 1) % maxSamplesAcceleration;
+            AccelerationRate oldsampleAcceleration;
+            oldsampleAcceleration.timestamp = samplesAcceleration.at(sampleIndexAcceleration).timestamp;
+            oldsampleAcceleration.rotationRate = samplesAcceleration.at(sampleIndexAcceleration).rotationRate;
+            accelerationRate = (sampleAcceleration.rotationRate - oldsampleAcceleration.rotationRate) / (sampleAcceleration.timestamp - oldsampleAcceleration.timestamp).toSecondsDouble();
+        }
+
+
         if (topicPrx)
         {
-            topicPrx->reportSensorValues(data.id, data.pressure, data.qw, data.qx, data.qy, data.qz, pressureRate, rotationRate, nowTimestamp);
+            topicPrx->reportSensorValues(data.id, data.pressure, data.qw, data.qx, data.qy, data.qz, pressureRate, rotationRate, accelerationRate, nowTimestamp);
         }
 
     }

source/RobotAPI/drivers/OrientedTactileSensor/OrientedTactileSensorUnit.h

@@ -10,11 +10,8 @@
 #include <fstream>
 #include <stdio.h>
 #include <boost/date_time/posix_time/posix_time.hpp>
-//#include "RobotAPI/components/units/SensorActorUnit.h"
 #include <Eigen/Dense>
 
-#define CALIBRATE_ON 0
-
 namespace armarx
 {
     class OrientedTactileSensorUnitPropertyDefinitions:
@@ -39,11 +36,27 @@ namespace armarx
                 "65524 3 12 65534 65534 1 1208 119 58726 1000 943 ",
                 "Sensor Register Data to calibrate the sensor");
 
+            defineOptionalProperty<std::string>(
+                "SamplesRotation",
+                "20",
+                "number of orientation values to differentiate");
+
+            defineOptionalProperty<std::string>(
+                "SamplesPressure",
+                "10",
+                "number of pressure values to differentiate");
+
+            defineOptionalProperty<std::string>(
+                "SamplesAcceleration",
+                "20",
+                "number of pressure values to differentiate");
+
             defineOptionalProperty<bool>(
                 "calibrateSensor",
                 "false"
                 "Set true to calibrate the sensor and get calibration data and false to use existent calibration data");
         }
+
     };
 
     /**
@@ -114,13 +127,13 @@ namespace armarx
 
         std::vector<RotationRate> samplesRotation;
         std::vector<PressureRate> samplesPressure;
-        std::vector<AccelerationRate> samplesRotationRate;
+        std::vector<AccelerationRate> samplesAcceleration;
         int maxSamplesRotation;
         int sampleIndexRotation;
         int maxSamplesPressure;
         int sampleIndexPressure;
-        int maxSamplesRotationRate;
-        int sampleIndexRotationRate;
+        int maxSamplesAcceleration;
+        int sampleIndexAcceleration;
     };
 }
 #endif // SENSORPACKAGEUNIT_H

source/RobotAPI/interface/units/OrientedTactileSensorUnit.ice

@@ -47,7 +47,7 @@ module armarx
 
    interface OrientedTactileSensorUnitListener
     {
-        void reportSensorValues(int id, float pressure, float qw, float qx, float qy, float qz, float pressureRate, float rotationRate, TimestampBase timestamp);
+        void reportSensorValues(int id, float pressure, float qw, float qx, float qy, float qz, float pressureRate, float rotationRate, float accelerationRate, TimestampBase timestamp);
     };