Josh Cole SharpCoder

Absolute Orientation Problem

This project is all about calculating the position of a telescope. I derive absolute orientation using a magnetometer sensor and accelerometer sensor. By absolute orientation, I mean deriving the euler angles of the telescope. The root problem I'm facing is that the yaw reading experiences a mostly linear error after pitching the device beyond a specific threshold. (About 50 degrees or so).

Reproducing the Problem

To consistently observe the error, a simple experiment can be performed which reliably yields the problem.

Experiment

A 2D (XY) Robotic Platform

Here are the files for my 2d robotic platform. Each file is meant to be fabricated on a 3d printer (except the assembly.scad file, which is really just a visualization for the final build).

ChronoPixel API Specification

This gist outlines the specification for the ChronoPixel v1.0 scripting library. The goal is to approximate similar functionality as found in Macromedia Flash (from ye olde web). The language of choice for ChronoPixel will be LUA. Code will be interpreted at runtime while manipulation of the world will happen via javascript bindings which hook in to the ChronoPixelMX source engine.

ChronoPixel Scripting V1 Specification

Scope

Shamos and Hoey Polygon Intersection Algorithm

This is my very horrific attempt to implement the Shamos and Hoey intersection algorithm. The algorithm is defined in the paper Geometric Intersection Problems (1976).

Thoughts

For the love of god, don't re-sort the array each time you insert. There's gotta be an O(n) way to do it???
Verify the algorithm more (I don't actually know if it's correct)
Next, implement the Bently and Ottmann optimizations

	#![allow(unused)]

	use chrono::prelude::*;
	use std::f64::consts::PI;

	type Float = f64;

	#[derive(Copy, Clone)]
	pub struct GpsCoordinate {
	pub latitude: Angle,

	function getAABB(rect: Cuboid) {
	const result = {
	min: [rect.x, rect.y, rect.z],
	max: [rect.x + rect.w, rect.y + rect.h, rect.z + rect.d],
	};

	// Swap the vertices if the min/max is reversed
	// because of orientation or whatever.
	for (let i = 0; i < 3; i++) {
	if (result.max[i] < result.min[i]) {

	const {
	aws_route53: route53,
	aws_certificatemanager: acm,
	aws_ecs: ecs,
	aws_ec2: ec2,
	aws_ecr_assets: ecr_assets,
	aws_elasticloadbalancingv2: elbv2,
	Stack,
	CfnOutput,
	IgnoreMode,

	const result = m4.combine([
	m4.translate(x,y,z),
	m4.rotateX(rads(35)),
	m4.rotateY(rads(25)),
	])

	// Here's how you can decompose the result back into a vector
	const vector = [
	result[6],
	result[7],

	export class TRS {
	/** x transform */
	x: number;
	/** y transform */
	y: number;
	/** x scale */
	sx: number;
	/** y scale */
	sy: number;
	/** x rotation offset */