GPL Licensed code has been removed

8 files changed, 1 insertions, 1852 deletions

diff --git a/src/modules/attitude_estimator_so3_comp/README b/src/modules/attitude_estimator_so3_comp/README
index 26b270d37..79c50a531 100644
--- a/src/modules/attitude_estimator_so3_comp/README
+++ b/src/modules/attitude_estimator_so3_comp/README
@@ -2,4 +2,4 @@ Synopsis
 
  nsh> attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200
 
-Option -d is for debugging packet. See visualization_code folder.
+Option -d is for debugging packet. See code for detailed packet structure.
diff --git a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/FreeIMU_cube.pde b/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/FreeIMU_cube.pde
deleted file mode 100644
index 3706437d3..000000000
--- a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/FreeIMU_cube.pde
+++ /dev/null
@@ -1,265 +0,0 @@
-/**
-Visualize a cube which will assumes the orientation described
-in a quaternion coming from the serial port.
-
-INSTRUCTIONS: 
-This program has to be run when you have the FreeIMU_serial
-program running on your Arduino and the Arduino connected to your PC.
-Remember to set the serialPort variable below to point to the name the
-Arduino serial port has in your system. You can get the port using the
-Arduino IDE from Tools->Serial Port: the selected entry is what you have
-to use as serialPort variable.
-
-
-Copyright (C) 2011-2012 Fabio Varesano - http://www.varesano.net/
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the version 3 GNU General Public License as
-published by the Free Software Foundation.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-import processing.serial.*;
-import processing.opengl.*;
-
-Serial myPort;  // Create object from Serial class
-
-final String serialPort = "/dev/ttyUSB9"; // replace this with your serial port. On windows you will need something like "COM1".
-
-float [] q = new float [4];
-float [] hq = null;
-float [] Euler = new float [3]; // psi, theta, phi
-
-int lf = 10; // 10 is '\n' in ASCII
-byte[] inBuffer = new byte[22]; // this is the number of chars on each line from the Arduino (including /r/n)
-
-PFont font;
-final int VIEW_SIZE_X = 800, VIEW_SIZE_Y = 600;
-
-final int burst = 32;
-int count = 0;
-
-void myDelay(int time) {
-  try {
-    Thread.sleep(time);
-  } catch (InterruptedException e) { }
-}
-
-void setup() 
-{
-  size(VIEW_SIZE_X, VIEW_SIZE_Y, OPENGL);
-  myPort = new Serial(this, serialPort, 115200);
-  
-  // The font must be located in the sketch's "data" directory to load successfully
-  font = loadFont("CourierNew36.vlw"); 
-  
-  println("Waiting IMU..");
-  
-  myPort.clear();
-  
-  while (myPort.available() == 0) {
-    myPort.write("v");
-    myDelay(1000);
-  }
-  println(myPort.readStringUntil('\n'));
-  myPort.write("q" + char(burst));
-  myPort.bufferUntil('\n');
-}
-
-
-float decodeFloat(String inString) {
-  byte [] inData = new byte[4];
-  
-  if(inString.length() == 8) {
-    inData[0] = (byte) unhex(inString.substring(0, 2));
-    inData[1] = (byte) unhex(inString.substring(2, 4));
-    inData[2] = (byte) unhex(inString.substring(4, 6));
-    inData[3] = (byte) unhex(inString.substring(6, 8));
-  }
-      
-  int intbits = (inData[3] << 24) | ((inData[2] & 0xff) << 16) | ((inData[1] & 0xff) << 8) | (inData[0] & 0xff);
-  return Float.intBitsToFloat(intbits);
-}
-
-void serialEvent(Serial p) {
-  if(p.available() >= 18) {
-    String inputString = p.readStringUntil('\n');
-    //print(inputString);
-    if (inputString != null && inputString.length() > 0) {
-      String [] inputStringArr = split(inputString, ",");
-      if(inputStringArr.length >= 5) { // q1,q2,q3,q4,\r\n so we have 5 elements
-        q[0] = decodeFloat(inputStringArr[0]);
-        q[1] = decodeFloat(inputStringArr[1]);
-        q[2] = decodeFloat(inputStringArr[2]);
-        q[3] = decodeFloat(inputStringArr[3]);
-      }
-    }
-    count = count + 1;
-    if(burst == count) { // ask more data when burst completed
-      p.write("q" + char(burst));
-      count = 0;
-    }
-  }
-}
-
-
-
-void buildBoxShape() {
-  //box(60, 10, 40);
-  noStroke();
-  beginShape(QUADS);
-  
-  //Z+ (to the drawing area)
-  fill(#00ff00);
-  vertex(-30, -5, 20);
-  vertex(30, -5, 20);
-  vertex(30, 5, 20);
-  vertex(-30, 5, 20);
-  
-  //Z-
-  fill(#0000ff);
-  vertex(-30, -5, -20);
-  vertex(30, -5, -20);
-  vertex(30, 5, -20);
-  vertex(-30, 5, -20);
-  
-  //X-
-  fill(#ff0000);
-  vertex(-30, -5, -20);
-  vertex(-30, -5, 20);
-  vertex(-30, 5, 20);
-  vertex(-30, 5, -20);
-  
-  //X+
-  fill(#ffff00);
-  vertex(30, -5, -20);
-  vertex(30, -5, 20);
-  vertex(30, 5, 20);
-  vertex(30, 5, -20);
-  
-  //Y-
-  fill(#ff00ff);
-  vertex(-30, -5, -20);
-  vertex(30, -5, -20);
-  vertex(30, -5, 20);
-  vertex(-30, -5, 20);
-  
-  //Y+
-  fill(#00ffff);
-  vertex(-30, 5, -20);
-  vertex(30, 5, -20);
-  vertex(30, 5, 20);
-  vertex(-30, 5, 20);
-  
-  endShape();
-}
-
-
-void drawCube() {  
-  pushMatrix();
-    translate(VIEW_SIZE_X/2, VIEW_SIZE_Y/2 + 50, 0);
-    scale(5,5,5);
-    
-    // a demonstration of the following is at 
-    // http://www.varesano.net/blog/fabio/ahrs-sensor-fusion-orientation-filter-3d-graphical-rotating-cube
-    rotateZ(-Euler[2]);
-    rotateX(-Euler[1]);
-    rotateY(-Euler[0]);
-    
-    buildBoxShape();
-    
-  popMatrix();
-}
-
-
-void draw() {
-  background(#000000);
-  fill(#ffffff);
-  
-  if(hq != null) { // use home quaternion
-    quaternionToEuler(quatProd(hq, q), Euler);
-    text("Disable home position by pressing \"n\"", 20, VIEW_SIZE_Y - 30);
-  }
-  else {
-    quaternionToEuler(q, Euler);
-    text("Point FreeIMU's X axis to your monitor then press \"h\"", 20, VIEW_SIZE_Y - 30);
-  }
-  
-  textFont(font, 20);
-  textAlign(LEFT, TOP);
-  text("Q:\n" + q[0] + "\n" + q[1] + "\n" + q[2] + "\n" + q[3], 20, 20);
-  text("Euler Angles:\nYaw (psi)  : " + degrees(Euler[0]) + "\nPitch (theta): " + degrees(Euler[1]) + "\nRoll (phi)  : " + degrees(Euler[2]), 200, 20);
-  
-  drawCube();
-  //myPort.write("q" + 1);
-}
-
-
-void keyPressed() {
-  if(key == 'h') {
-    println("pressed h");
-    
-    // set hq the home quaternion as the quatnion conjugate coming from the sensor fusion
-    hq = quatConjugate(q);
-    
-  }
-  else if(key == 'n') {
-    println("pressed n");
-    hq = null;
-  }
-}
-
-// See Sebastian O.H. Madwick report 
-// "An efficient orientation filter for inertial and intertial/magnetic sensor arrays" Chapter 2 Quaternion representation
-
-void quaternionToEuler(float [] q, float [] euler) {
-  euler[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1); // psi
-  euler[1] = -asin(2 * q[1] * q[3] + 2 * q[0] * q[2]); // theta
-  euler[2] = atan2(2 * q[2] * q[3] - 2 * q[0] * q[1], 2 * q[0] * q[0] + 2 * q[3] * q[3] - 1); // phi
-}
-
-float [] quatProd(float [] a, float [] b) {
-  float [] q = new float[4];
-  
-  q[0] = a[0] * b[0] - a[1] * b[1] - a[2] * b[2] - a[3] * b[3];
-  q[1] = a[0] * b[1] + a[1] * b[0] + a[2] * b[3] - a[3] * b[2];
-  q[2] = a[0] * b[2] - a[1] * b[3] + a[2] * b[0] + a[3] * b[1];
-  q[3] = a[0] * b[3] + a[1] * b[2] - a[2] * b[1] + a[3] * b[0];
-  
-  return q;
-}
-
-// returns a quaternion from an axis angle representation
-float [] quatAxisAngle(float [] axis, float angle) {
-  float [] q = new float[4];
-  
-  float halfAngle = angle / 2.0;
-  float sinHalfAngle = sin(halfAngle);
-  q[0] = cos(halfAngle);
-  q[1] = -axis[0] * sinHalfAngle;
-  q[2] = -axis[1] * sinHalfAngle;
-  q[3] = -axis[2] * sinHalfAngle;
-  
-  return q;
-}
-
-// return the quaternion conjugate of quat
-float [] quatConjugate(float [] quat) {
-  float [] conj = new float[4];
-  
-  conj[0] = quat[0];
-  conj[1] = -quat[1];
-  conj[2] = -quat[2];
-  conj[3] = -quat[3];
-  
-  return conj;
-}
-
diff --git a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/LICENSE.txt b/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/LICENSE.txt
deleted file mode 100644
index 94a9ed024..000000000
--- a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/LICENSE.txt
+++ /dev/null
@@ -1,674 +0,0 @@
-                    GNU GENERAL PUBLIC LICENSE
-                       Version 3, 29 June 2007
-
- Copyright (C) 2007 Free Software Foundation, Inc. <http://fsf.org/>
- Everyone is permitted to copy and distribute verbatim copies
- of this license document, but changing it is not allowed.
-
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diff --git a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/data/CourierNew36.vlw b/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/data/CourierNew36.vlw
deleted file mode 100644
index 904771486..000000000
--- a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_cube/data/CourierNew36.vlw
+++ /dev/null
diff --git a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/FreeIMU_yaw_pitch_roll.pde b/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/FreeIMU_yaw_pitch_roll.pde
deleted file mode 100644
index 02afed971..000000000
--- a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/FreeIMU_yaw_pitch_roll.pde
+++ /dev/null
@@ -1,229 +0,0 @@
-/**
-Visualize orientation information from a FreeIMU device
-
-INSTRUCTIONS: 
-This program has to be run when you have the FreeIMU_serial
-program running on your Arduino and the Arduino connected to your PC.
-Remember to set the serialPort variable below to point to the name the
-Arduino serial port has in your system. You can get the port using the
-Arduino IDE from Tools->Serial Port: the selected entry is what you have
-to use as serialPort variable.
-
-Copyright (C) 2011-2012 Fabio Varesano - http://www.varesano.net/
-
-This program is free software: you can redistribute it and/or modify
-it under the terms of the version 3 GNU General Public License as
-published by the Free Software Foundation.
-
-This program is distributed in the hope that it will be useful,
-but WITHOUT ANY WARRANTY; without even the implied warranty of
-MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
-GNU General Public License for more details.
-
-You should have received a copy of the GNU General Public License
-along with this program.  If not, see <http://www.gnu.org/licenses/>.
-
-*/
-
-import processing.serial.*;
-
-Serial myPort;  // Create object from Serial class
-
-
-float [] q = new float [4];
-float [] Euler = new float [3]; // psi, theta, phi
-
-int lf = 10; // 10 is '\n' in ASCII
-byte[] inBuffer = new byte[22]; // this is the number of chars on each line from the Arduino (including /r/n)
-
-PFont font;
-final int VIEW_SIZE_X = 800, VIEW_SIZE_Y = 600;
-
-int burst = 32, count = 0;
-
-void myDelay(int time) {
-  try {
-    Thread.sleep(time);
-  } catch (InterruptedException e) { }
-}
-
-void setup() 
-{
-  size(VIEW_SIZE_X, VIEW_SIZE_Y, P3D);
-  myPort = new Serial(this, "/dev/ttyUSB9", 115200);  
-  
-  // The font must be located in the sketch's "data" directory to load successfully
-  font = loadFont("CourierNew36.vlw"); 
-  
-  println("Waiting IMU..");
-  
-  myPort.clear();
-  
-  while (myPort.available() == 0) {
-    myPort.write("v");
-    myDelay(1000);
-  }
-  println(myPort.readStringUntil('\n'));
-  myPort.write("q" + char(burst));
-  myPort.bufferUntil('\n');
-}
-
-
-float decodeFloat(String inString) {
-  byte [] inData = new byte[4];
-  
-  if(inString.length() == 8) {
-    inData[0] = (byte) unhex(inString.substring(0, 2));
-    inData[1] = (byte) unhex(inString.substring(2, 4));
-    inData[2] = (byte) unhex(inString.substring(4, 6));
-    inData[3] = (byte) unhex(inString.substring(6, 8));
-  }
-      
-  int intbits = (inData[3] << 24) | ((inData[2] & 0xff) << 16) | ((inData[1] & 0xff) << 8) | (inData[0] & 0xff);
-  return Float.intBitsToFloat(intbits);
-}
-
-
-void serialEvent(Serial p) {
-  if(p.available() >= 18) {
-    String inputString = p.readStringUntil('\n');
-    //print(inputString);
-    if (inputString != null && inputString.length() > 0) {
-      String [] inputStringArr = split(inputString, ",");
-      if(inputStringArr.length >= 5) { // q1,q2,q3,q4,\r\n so we have 5 elements
-        q[0] = decodeFloat(inputStringArr[0]);
-        q[1] = decodeFloat(inputStringArr[1]);
-        q[2] = decodeFloat(inputStringArr[2]);
-        q[3] = decodeFloat(inputStringArr[3]);
-      }
-    }
-    count = count + 1;
-    if(burst == count) { // ask more data when burst completed
-      p.write("q" + char(burst));
-      count = 0;
-    }
-  }
-}
-
-
-
-void buildBoxShape() {
-  //box(60, 10, 40);
-  noStroke();
-  beginShape(QUADS);
-  
-  //Z+ (to the drawing area)
-  fill(#00ff00);
-  vertex(-30, -5, 20);
-  vertex(30, -5, 20);
-  vertex(30, 5, 20);
-  vertex(-30, 5, 20);
-  
-  //Z-
-  fill(#0000ff);
-  vertex(-30, -5, -20);
-  vertex(30, -5, -20);
-  vertex(30, 5, -20);
-  vertex(-30, 5, -20);
-  
-  //X-
-  fill(#ff0000);
-  vertex(-30, -5, -20);
-  vertex(-30, -5, 20);
-  vertex(-30, 5, 20);
-  vertex(-30, 5, -20);
-  
-  //X+
-  fill(#ffff00);
-  vertex(30, -5, -20);
-  vertex(30, -5, 20);
-  vertex(30, 5, 20);
-  vertex(30, 5, -20);
-  
-  //Y-
-  fill(#ff00ff);
-  vertex(-30, -5, -20);
-  vertex(30, -5, -20);
-  vertex(30, -5, 20);
-  vertex(-30, -5, 20);
-  
-  //Y+
-  fill(#00ffff);
-  vertex(-30, 5, -20);
-  vertex(30, 5, -20);
-  vertex(30, 5, 20);
-  vertex(-30, 5, 20);
-  
-  endShape();
-}
-
-
-void drawcompass(float heading, int circlex, int circley, int circlediameter) {
-  noStroke();
-  ellipse(circlex, circley, circlediameter, circlediameter);
-  fill(#ff0000);
-  ellipse(circlex, circley, circlediameter/20, circlediameter/20);
-  stroke(#ff0000);
-  strokeWeight(4);
-  line(circlex, circley, circlex - circlediameter/2 * sin(-heading), circley - circlediameter/2 * cos(-heading));
-  noStroke();
-  fill(#ffffff);
-  textAlign(CENTER, BOTTOM);
-  text("N", circlex, circley - circlediameter/2 - 10);
-  textAlign(CENTER, TOP);
-  text("S", circlex, circley + circlediameter/2 + 10);
-  textAlign(RIGHT, CENTER);
-  text("W", circlex - circlediameter/2 - 10, circley);
-  textAlign(LEFT, CENTER);
-  text("E", circlex + circlediameter/2 + 10, circley);
-}
-
-
-void drawAngle(float angle, int circlex, int circley, int circlediameter, String title) {
-  angle = angle + PI/2;
-  
-  noStroke();
-  ellipse(circlex, circley, circlediameter, circlediameter);
-  fill(#ff0000);
-  strokeWeight(4);
-  stroke(#ff0000);
-  line(circlex - circlediameter/2 * sin(angle), circley - circlediameter/2 * cos(angle), circlex + circlediameter/2 * sin(angle), circley + circlediameter/2 * cos(angle));
-  noStroke();
-  fill(#ffffff);
-  textAlign(CENTER, BOTTOM);
-  text(title, circlex, circley - circlediameter/2 - 30);
-}
-
-void draw() {  
-
-  quaternionToYawPitchRoll(q, Euler);
-  
-  background(#000000);
-  fill(#ffffff);
-  
-  textFont(font, 20);
-  //float temp_decoded = 35.0 + ((float) (temp + 13200)) / 280;
-  //text("temp:\n" + temp_decoded + " C", 350, 250);
-  textAlign(LEFT, TOP);
-  text("Q:\n" + q[0] + "\n" + q[1] + "\n" + q[2] + "\n" + q[3], 20, 10);
-  text("Euler Angles:\nYaw (psi)  : " + degrees(Euler[0]) + "\nPitch (theta): " + degrees(Euler[1]) + "\nRoll (phi)  : " + degrees(Euler[2]), 200, 10);
-  
-  drawcompass(Euler[0], VIEW_SIZE_X/2 - 250, VIEW_SIZE_Y/2, 200);
-  drawAngle(Euler[1], VIEW_SIZE_X/2, VIEW_SIZE_Y/2, 200, "Pitch:");
-  drawAngle(Euler[2], VIEW_SIZE_X/2 + 250, VIEW_SIZE_Y/2, 200, "Roll:");
-}
-
-
-void quaternionToYawPitchRoll(float [] q, float [] ypr) {
-  float gx, gy, gz; // estimated gravity direction
-  
-  gx = 2 * (q[1]*q[3] - q[0]*q[2]);
-  gy = 2 * (q[0]*q[1] + q[2]*q[3]);
-  gz = q[0]*q[0] - q[1]*q[1] - q[2]*q[2] + q[3]*q[3];
-  
-  ypr[0] = atan2(2 * q[1] * q[2] - 2 * q[0] * q[3], 2 * q[0]*q[0] + 2 * q[1] * q[1] - 1);
-  ypr[1] = atan2(gx, sqrt(gy*gy + gz*gz));
-  ypr[2] = atan2(gy, sqrt(gx*gx + gz*gz));
-}
-
-
diff --git a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/LICENSE.txt b/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/LICENSE.txt
deleted file mode 100644
index 94a9ed024..000000000
--- a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/LICENSE.txt
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@@ -1,674 +0,0 @@
-                    GNU GENERAL PUBLIC LICENSE
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-  17. Interpretation of Sections 15 and 16.
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-  If the disclaimer of warranty and limitation of liability provided
-above cannot be given local legal effect according to their terms,
-reviewing courts shall apply local law that most closely approximates
-an absolute waiver of all civil liability in connection with the
-Program, unless a warranty or assumption of liability accompanies a
-copy of the Program in return for a fee.
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-                     END OF TERMS AND CONDITIONS
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-            How to Apply These Terms to Your New Programs
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-  If you develop a new program, and you want it to be of the greatest
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-free software which everyone can redistribute and change under these terms.
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-to attach them to the start of each source file to most effectively
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diff --git a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/data/CourierNew36.vlw b/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/data/CourierNew36.vlw
deleted file mode 100644
index 904771486..000000000
--- a/src/modules/attitude_estimator_so3_comp/visualization_code/FreeIMU_yaw_pitch_roll/data/CourierNew36.vlw
+++ /dev/null
diff --git a/src/modules/attitude_estimator_so3_comp/visualization_code/README b/src/modules/attitude_estimator_so3_comp/visualization_code/README
deleted file mode 100644
index c02863343..000000000
--- a/src/modules/attitude_estimator_so3_comp/visualization_code/README
+++ /dev/null
@@ -1,9 +0,0 @@
-If you run the attitude estimator by following command, the software will write packets
-over /dev/ttyS1 which is used for 3D visualization.
-
- nsh> attitude_estimator_so3_comp start -d /dev/ttyS1 -b 115200
-
-This visualization code can be executed by Processing.
- Download : http://www.processing.org/download/
-
-The visualization code works with Processing version 1.5.1.