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ProcessedSensors.js
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'use strict';Object.defineProperty(exports,"__esModule",{value:true});var _set=require('babel-runtime/core-js/set');var _set2=_interopRequireDefault(_set);var _classCallCheck2=require('babel-runtime/helpers/classCallCheck');var _classCallCheck3=_interopRequireDefault(_classCallCheck2);var _createClass2=require('babel-runtime/helpers/createClass');var _createClass3=_interopRequireDefault(_createClass2);var _client=require('waves-lfo/client');var lfo=_interopRequireWildcard(_client);var _lfoMotion=require('lfo-motion');var lfoMotion=_interopRequireWildcard(_lfoMotion);function _interopRequireWildcard(obj){if(obj&&obj.__esModule){return obj;}else{var newObj={};if(obj!=null){for(var key in obj){if(Object.prototype.hasOwnProperty.call(obj,key))newObj[key]=obj[key];}}newObj.default=obj;return newObj;}}function _interopRequireDefault(obj){return obj&&obj.__esModule?obj:{default:obj};}/**
* High-level abstraction that listen for raw sensors (accelerometers and
* gyroscopes) and apply a set of preprocessing / filtering on it.
*
* The output is composed of 11 values:
* - IntensityNorm
* - IntensityNormBoost
* - BandPass AccX
* - BandPass AccY
* - BandPass AccZ
* - Orientation X (processed from acc and gyro)
* - Orientation Y (processed from acc and gyro)
* - Orientation Z (processed from acc and gyro)
* - gyro alpha (yaw) - degrees / ms
* - gyro beta (pitch) - degrees / ms
* - gyro gamma (roll) - degrees / ms
*
* @example
* import { ProcessedSensors } from 'iml-motion';
*
* const processedSensors = new ProcessedSensors();
* processedSensors.addListener(data => console.log(data));
* processedSensors
* .init()
* .then(() => processedSensors.start());
*/var ProcessedSensors=function(){function ProcessedSensors(){var _ref=arguments.length>0&&arguments[0]!==undefined?arguments[0]:{},_ref$frameRate=_ref.frameRate,frameRate=_ref$frameRate===undefined?1/0.02:_ref$frameRate;(0,_classCallCheck3.default)(this,ProcessedSensors);this.frameRate=frameRate;this._emit=this._emit.bind(this);// create the lfo graph
this.motionInput=new lfoMotion.source.MotionInput();this.sampler=new lfoMotion.operator.Sampler({frameRate:frameRate});this.accSelect=new lfo.operator.Select({indexes:[0,1,2]});this.gyroSelect=new lfo.operator.Select({indexes:[3,4,5]});// intensity
this.intensity=new lfoMotion.operator.Intensity({feedback:0.7,gain:0.07});this.intensityNormSelect=new lfo.operator.Select({index:0});// boost
this.intensityClip=new lfo.operator.Clip({min:0,max:1});this.intensityPower=new lfo.operator.Power({exponent:0.25});this.powerClip=new lfo.operator.Clip({min:0.15,max:1});this.powerScale=new lfo.operator.Scale({inputMin:0.15,inputMax:1,outputMin:0,outputMax:1});// bandpass
this.normalizeAcc=new lfo.operator.Multiplier({factor:1/9.81});this.bandpass=new lfo.operator.Biquad({type:'bandpass',q:1,f0:5});this.bandpassGain=new lfo.operator.Multiplier({factor:1});// orientation filter
this.orientation=new lfoMotion.operator.Orientation();// gyroscopes scaling
this.gyroScale=new lfo.operator.Multiplier({factor:[1/1000,1/1000,1/1000]});// merge and output
this.merger=new lfo.operator.Merger({frameSizes:[1,1,3,3,3]});this.bridge=new lfo.sink.Bridge({processFrame:this._emit,finalizeStream:this._emit});this.motionInput.connect(this.sampler);// for intensity and bandpass
this.sampler.connect(this.accSelect);// intensity branch
this.accSelect.connect(this.intensity);this.intensity.connect(this.intensityNormSelect);this.intensityNormSelect.connect(this.merger);// boost branch
this.intensityNormSelect.connect(this.intensityClip);this.intensityClip.connect(this.intensityPower);this.intensityPower.connect(this.powerClip);this.powerClip.connect(this.powerScale);this.powerScale.connect(this.merger);// biquad branch
this.accSelect.connect(this.normalizeAcc);this.normalizeAcc.connect(this.bandpass);this.bandpass.connect(this.bandpassGain);this.bandpassGain.connect(this.merger);// orientation
this.sampler.connect(this.orientation);this.orientation.connect(this.merger);// gyroscpes
this.sampler.connect(this.gyroSelect);this.gyroSelect.connect(this.gyroScale);this.gyroScale.connect(this.merger);this.merger.connect(this.bridge);this._listeners=new _set2.default();}/**
* Initialize the sensors
* @return Promise
*/(0,_createClass3.default)(ProcessedSensors,[{key:'init',value:function init(){// do not override frameRate with values from motionInput as
// we resampler overrides the source sampleRate, cf. `constructor`
return this.motionInput.init();}/**
* Start listening to the sensors
*/},{key:'start',value:function start(){this.motionInput.start();}/**
* Stop listening to the sensors
*/},{key:'stop',value:function stop(){this.motionInput.stop();}/**
* Add a listener to the module.
*
* @param {ProcessedSensorsListener} callback - Listener to register, the
* callback is executed with an array containing the processed data from
* the sensors
*/},{key:'addListener',value:function addListener(callback){this._listeners.add(callback);}/**
* Remove a listener from the module.
*
* @param {ProcessedSensorsListener} callback - Listener to delete
*/},{key:'removeListener',value:function removeListener(callback){this._listeners.delete(callback);}/** @private */},{key:'_emit',value:function _emit(frame){this._listeners.forEach(function(listener){return listener(frame.data);});}}]);return ProcessedSensors;}();exports.default=ProcessedSensors;
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IntensityNorm\n * - IntensityNormBoost\n * - BandPass AccX\n * - BandPass AccY\n * - BandPass AccZ\n * - Orientation X (processed from acc and gyro)\n * - Orientation Y (processed from acc and gyro)\n * - Orientation Z (processed from acc and gyro)\n * - gyro alpha (yaw) - degrees / ms\n * - gyro beta (pitch) - degrees / ms\n * - gyro gamma (roll) - degrees / ms\n *\n * @example\n * import { ProcessedSensors } from 'iml-motion';\n *\n * const processedSensors = new ProcessedSensors();\n * processedSensors.addListener(data => console.log(data));\n * processedSensors\n *  .init()\n *  .then(() => processedSensors.start());\n */\nclass ProcessedSensors {\n  constructor({\n    frameRate = 1 / 0.02,\n  } = {}) {\n    this.frameRate = frameRate;\n\n    this._emit = this._emit.bind(this);\n\n    // create the lfo graph\n    this.motionInput = new lfoMotion.source.MotionInput();\n\n    this.sampler = new lfoMotion.operator.Sampler({\n      frameRate: frameRate,\n    });\n\n    this.accSelect = new lfo.operator.Select({ indexes: [0, 1, 2] });\n    this.gyroSelect = new lfo.operator.Select({ indexes: [3, 4, 5] });\n\n    // intensity\n    this.intensity = new lfoMotion.operator.Intensity({\n      feedback: 0.7,\n      gain: 0.07,\n    });\n\n    this.intensityNormSelect = new lfo.operator.Select({ index: 0 });\n\n    // boost\n    this.intensityClip = new lfo.operator.Clip({ min: 0, max: 1 });\n    this.intensityPower = new lfo.operator.Power({ exponent: 0.25 });\n    this.powerClip = new lfo.operator.Clip({ min: 0.15, max: 1 });\n    this.powerScale = new lfo.operator.Scale({\n      inputMin: 0.15,\n      inputMax: 1,\n      outputMin: 0,\n      outputMax: 1,\n    });\n\n    // bandpass\n    this.normalizeAcc = new lfo.operator.Multiplier({ factor: 1 / 9.81 });\n    this.bandpass = new lfo.operator.Biquad({\n      type: 'bandpass',\n      q: 1,\n      f0: 5,\n    });\n    this.bandpassGain = new lfo.operator.Multiplier({ factor: 1 });\n\n    // orientation filter\n    this.orientation = new lfoMotion.operator.Orientation();\n\n    // gyroscopes scaling\n    this.gyroScale = new lfo.operator.Multiplier({\n      factor: [1/1000, 1/1000, 1/1000],\n    });\n\n    // merge and output\n    this.merger = new lfo.operator.Merger({\n      frameSizes: [1, 1, 3, 3, 3],\n    });\n\n    this.bridge = new lfo.sink.Bridge({\n      processFrame: this._emit,\n      finalizeStream: this._emit,\n    });\n\n    this.motionInput.connect(this.sampler);\n    // for intensity and bandpass\n    this.sampler.connect(this.accSelect);\n    // intensity branch\n    this.accSelect.connect(this.intensity);\n    this.intensity.connect(this.intensityNormSelect);\n    this.intensityNormSelect.connect(this.merger);\n    // boost branch\n    this.intensityNormSelect.connect(this.intensityClip);\n    this.intensityClip.connect(this.intensityPower);\n    this.intensityPower.connect(this.powerClip);\n    this.powerClip.connect(this.powerScale);\n    this.powerScale.connect(this.merger);\n    // biquad branch\n    this.accSelect.connect(this.normalizeAcc);\n    this.normalizeAcc.connect(this.bandpass);\n    this.bandpass.connect(this.bandpassGain);\n    this.bandpassGain.connect(this.merger);\n    // orientation\n    this.sampler.connect(this.orientation);\n    this.orientation.connect(this.merger);\n    // gyroscpes\n    this.sampler.connect(this.gyroSelect);\n    this.gyroSelect.connect(this.gyroScale);\n    this.gyroScale.connect(this.merger);\n\n    this.merger.connect(this.bridge);\n\n    this._listeners = new Set();\n  }\n\n  /**\n   * Initialize the sensors\n   * @return Promise\n   */\n  init() {\n    // do not override frameRate with values from motionInput as\n    // we resampler overrides the source sampleRate, cf. `constructor`\n    return this.motionInput.init();\n  }\n\n  /**\n   * Start listening to the sensors\n   */\n  start() {\n    this.motionInput.start();\n  }\n\n  /**\n   * Stop listening to the sensors\n   */\n  stop() {\n    this.motionInput.stop();\n  }\n\n  /**\n   * Add a listener to the module.\n   *\n   * @param {ProcessedSensorsListener} callback - Listener to register, the\n   *  callback is executed with an array containing the processed data from\n   *  the sensors\n   */\n  addListener(callback) {\n    this._listeners.add(callback);\n  }\n\n  /**\n   * Remove a listener from the module.\n   *\n   * @param {ProcessedSensorsListener} callback - Listener to delete\n   */\n  removeListener(callback) {\n    this._listeners.delete(callback);\n  }\n\n  /** @private */\n  _emit(frame) {\n    this._listeners.forEach(listener => listener(frame.data));\n  }\n\n}\n\nexport default ProcessedSensors;\n"]}