Merge pull request #2595 from opensim-org/opensense_coordinatedirection

Use CoordinateDirection rather than CoordinateAxis

Author: aymanhab

OpenSim/Simulation/OpenSense/OpenSenseUtilities.cpp

@@ -123,7 +123,7 @@ Model OpenSenseUtilities::calibrateModelFromOrientations(
     const string& modelCalibrationPoseFile,
     const string& calibrationOrientationsFile,
     const std::string& baseImuName,
-    const SimTK::CoordinateAxis& baseHeadingAxis,
+    const SimTK::CoordinateDirection& baseHeadingDirection,
     bool visualizeCalibratedModel)
 {
     Model model(modelCalibrationPoseFile);
@@ -135,7 +135,7 @@ Model OpenSenseUtilities::calibrateModelFromOrientations(
 
     TimeSeriesTable_<SimTK::Rotation> orientationsData =
         OpenSenseUtilities::convertQuaternionsToRotations(quatTable,
-            startEnd, baseImuName, baseHeadingAxis);
+            startEnd, baseImuName, baseHeadingDirection);
 
     std::cout << "Loaded orientations as quaternions from "
         << calibrationOrientationsFile << std::endl;

OpenSim/Simulation/OpenSense/OpenSenseUtilities.h

@@ -70,8 +70,9 @@ namespace OpenSim {
                          to account for the heading difference between the sensor
                          data and the forward direction of the model. Leave blank
                          if no heading correction is to be applied.
-            baseHeadingAxis: The axis of the base IMU that corresponds to its
-                             heading direction. Options are SimTK::X/Y/ZAxis
+            baseHeadingDirection: The axis of the base IMU that corresponds to its
+                             heading direction. Options are SimTK::X/Y/ZAxis, along with
+                             direction of +1/-1
             Assumptions about the inputs: 
              1) the model default pose is the same as the pose used to collect
                 calibration data
@@ -84,7 +85,7 @@ namespace OpenSim {
             const std::string& modelCalibrationPoseFile,
             const std::string& calibrationOrientationsFile,
             const std::string& baseImuName = "",
-            const SimTK::CoordinateAxis& baseHeadingAxis = SimTK::ZAxis,
+            const SimTK::CoordinateDirection& baseHeadingDirection =SimTK::ZAxis,
             bool visualizeCalibratedModel =true);
         /**
          * Create Orientations as a TimeSeriesTable based on passed in markerFile