## Path Finding – Convex Hull Part 1

This is part 1 of a series on path finding. The gaming industry has developed so many algorithms that are very applicable to the world of robotics. The developers of early games had to conquer many kinds of issues to bring their virtual bad guys to life. One of these… Continue Reading Path Finding – Convex Hull Part 1

## Mapness: Google Maps for Gtk+3.0 and Vala

Mapness is an open source (LGPL) Gtk+3.0 widget for displaying maps (google, bing, open street maps). It is written in Vala and has bindings for C, Python and GJS (gnome javascript). https://github.com/supercamel/mapness A while ago, I was using osm-gps-map inside Gtkmm/C++ applications. That worked fine. After discovering Vala, I found… Continue Reading Mapness: Google Maps for Gtk+3.0 and Vala

## Using Osm-Gps-Map Widget With Vala

These steps apply for Debian based Linux systems. For Arch linux, you can use pacman -S osm-gps-map however at this point it contains a bug which has been reported here. Download and extract the latest source from github Make sure you’ve got libgirepository-dev with sudo apt-get install libgirepository-dev. If you’re… Continue Reading Using Osm-Gps-Map Widget With Vala

## Modelling Acceleration – Calculating Orientation pt4

Modelling Acceleration Dynamics The accuracy of an orientation sensing system can generally be improved if the acceleration dynamics of the system can be estimated. Accelerometers are commonly used in orientation sensing systems because they can sense gravity (the down vector). They also measure acceleration due to changes in motion –… Continue Reading Modelling Acceleration – Calculating Orientation pt4

## Quaternion Formulas

Here’s a collection of quaternion formulas. Quaternions are very useful for orientation sensing, game programming and augmented reality applications. Magnitude Normal Quaternion Conjugate Axis Angle To Quaternion Where the axis is v and the angle is theta Quaternion To Axis Angle Where theta is the angle and v is the… Continue Reading Quaternion Formulas

## Integrating Gyroscopes – Calculating Orientation pt2

Integrating Gyroscopes If you are not familiar with integration, read this first. Gyroscopes measure angular velocity. Angular velocity is the rate of change of angular displacement. You know that distance = speed * time. Well, angular displacement = angular velocity * time Gyroscopes can’t measure orientation with reference to the… Continue Reading Integrating Gyroscopes – Calculating Orientation pt2

## Quaternions And How to Really Use Them

Quaternions are often used in attitude and heading systems to represent orientation. This post describes quaternions and how to use them in orientation and navigation systems. Quaternions If you type ‘quaternion’ into google, it’ll tell you something like this a complex number of the form w + xi + yj… Continue Reading Quaternions And How to Really Use Them

## IMU Maths – How To Calculate Orientation

IMUs contain sensors that measure acceleration, magnetic fields and rotation. This post is about the maths used to get orientation (pitch, roll, yaw) from these sensors. Getting The IMU Maths Library I made a maths library for Arduino and it has been used in quite a few cool projects (… Continue Reading IMU Maths – How To Calculate Orientation