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• Quaternion dfference + time --> angular velocity (gyroscope in physics library)

  - by AndrewK

  I am using Bullet Physic library to program some function, where I have difference between orientation from gyroscope given in quaternion and orientation of my object, and time between each frame in milisecond. All I want is set the orientation from my gyroscope to orientation of my object in 3D space. But all I can do is set angular velocity to my object. I have orientation difference and time, and from that I calculate vector of angular velocity [Wx,Wy,Wz] from that formula: W(t) = 2 * dq(t)/dt * conj(q(t)) My code is: btQuaternion diffQuater = gyroQuater - boxQuater; btQuaternion conjBoxQuater = gyroQuater.inverse(); btQuaternion velQuater = ((diffQuater * 2.0f) / d_time) * conjBoxQuater; And everything works well, till I get: 1 rotating around Y axis, angle about 60 degrees, then I have these values in 2 critical frames: x: -0.013220 y: -0.038050 z: -0.021979 w: -0.074250 - diffQuater x: 0.120094 y: 0.818967 z: 0.156797 w: -0.538782 - gyroQuater x: 0.133313 y: 0.857016 z: 0.178776 w: -0.464531 - boxQuater x: 0.207781 y: 0.290452 z: 0.245594 - diffQuater -> euler angles x: 3.153619 y: -66.947929 z: 175.936615 - gyroQuater -> euler angles x: 4.290697 y: -57.553043 z: 173.320053 - boxQuater -> euler angles x: 0.138128 y: 2.823307 z: 1.025552 w: 0.131360 - velQuater d_time: 0.058000 x: 0.211020 y: 1.595124 z: 0.303650 w: -1.143846 - diffQuater x: 0.089518 y: 0.771939 z: 0.144527 w: -0.612543 - gyroQuater x: -0.121502 y: -0.823185 z: -0.159123 w: 0.531303 - boxQuater x: nan y: nan z: nan - diffQuater -> euler angles x: 2.985240 y: -76.304405 z: -170.555054 - gyroQuater -> euler angles x: 3.269681 y: -65.977966 z: 175.639420 - boxQuater -> euler angles x: -0.730262 y: -2.882153 z: -1.294721 w: 63.325996 - velQuater d_time: 0.063000 2 rotating around X axis, angle about 120 degrees, then I have these values in 2 critical frames: x: -0.013045 y: -0.004186 z: -0.005667 w: -0.022482 - diffQuater x: -0.848030 y: -0.187985 z: 0.114400 w: 0.482099 - gyroQuater x: -0.834985 y: -0.183799 z: 0.120067 w: 0.504580 - boxQuater x: 0.036336 y: 0.002312 z: 0.020859 - diffQuater -> euler angles x: -113.129463 y: 0.731925 z: 25.415056 - gyroQuater -> euler angles x: -110.232368 y: 0.860897 z: 25.350458 - boxQuater -> euler angles x: -0.865820 y: -0.456086 z: 0.034084 w: 0.013184 - velQuater d_time: 0.055000 x: -1.721662 y: -0.387898 z: 0.229844 w: 0.910235 - diffQuater x: -0.874310 y: -0.200132 z: 0.115142 w: 0.426933 - gyroQuater x: 0.847352 y: 0.187766 z: -0.114703 w: -0.483302 - boxQuater x: -144.402298 y: 4.891629 z: 71.309158 - diffQuater -> euler angles x: -119.515343 y: 1.745076 z: 26.646086 - gyroQuater -> euler angles x: -112.974533 y: 0.738675 z: 25.411509 - boxQuater -> euler angles x: 2.086195 y: 0.676526 z: -0.424351 w: 70.104248 - velQuater d_time: 0.057000 2 rotating around Z axis, angle about 120 degrees, then I have these values in 2 critical frames: x: -0.000736 y: 0.002812 z: -0.004692 w: -0.008181 - diffQuater x: -0.003829 y: 0.012045 z: -0.868035 w: 0.496343 - gyroQuater x: -0.003093 y: 0.009232 z: -0.863343 w: 0.504524 - boxQuater x: -0.000822 y: -0.003032 z: 0.004162 - diffQuater -> euler angles x: -1.415189 y: 0.304210 z: -120.481873 - gyroQuater -> euler angles x: -1.091881 y: 0.227784 z: -119.399445 - boxQuater -> euler angles x: 0.159042 y: 0.169228 z: -0.754599 w: 0.003900 - velQuater d_time: 0.025000 x: -0.007598 y: 0.024074 z: -1.749412 w: 0.968588 - diffQuater x: -0.003769 y: 0.012030 z: -0.881377 w: 0.472245 - gyroQuater x: 0.003829 y: -0.012045 z: 0.868035 w: -0.496343 - boxQuater x: -5.645197 y: 1.148993 z: -146.507187 - diffQuater -> euler angles x: -1.418294 y: 0.270319 z: -123.638245 - gyroQuater -> euler angles x: -1.415183 y: 0.304208 z: -120.481873 - boxQuater -> euler angles x: 0.017498 y: -0.013332 z: 2.040073 w: 148.120056 - velQuater d_time: 0.027000 The problem is the most visible in diffQuater - euler angles vector. Can someone tell me why it is like that? and how to solve that problem? All suggestions are welcome.

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• Adding a 'network' USB printer

  - by AndrewK

  I have a HP Deskjet 1050a printer, hence the 'network' in the title. Its a bog standard USB home printer. I have it attached to my router (has a USB port in it). I have got it connected and working to with Win8 PC and also a MacBook Air. Can't seem to get it to add as a printer to my Xubuntu laptop(s). It doesn't get detected automatically (not an actual network printer) and i've tried multiple options to get it working. It seems to add it but when printing a test page its saying the printer isn't connected. Ping works fine so it can see it, just can't add it as a printer. With Win8 I had to create a port with the IP of the printer (192.168.1.253 in this case), is there an Ubuntu alternative to do this?

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• Assigning multiple IPv6 addresses on a Server

  - by andrewk

  Let me uncover my intent. My host provides hundreds of IPV6 addresses free, but charge for an IPV4 address. I have several sites under one server and I was wondering if I can give each site/domain it's own ipv6 address. Is that even possible? If so how? I've read quite a bit about ipv6 but I do not understand it as clear as I'd like. My main goal is, for each domain/site to have it's own unique IP, so someone can't do a reverse ip look up and see what sites I have on that server. Thanks in advance for the patience.

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• multiple ip for a server not reachable

  - by andrewk

  FYI: I've read everything on Serverfault related to this question and have faced a different issue. Simply put, I've got one server (apache2) with couple of sites on it. It currently has 1 ip. I'm trying to assign/add another ip to that server, so I can give each site a different ip for ssl purposes. I am not lucking out. The new ip simply is unreachable, I've pinged it. This is what I've got below, what am I doing wrong. auto lo iface lo inet loopback auto eth0 eth0:0 eth0:1 iface eth0 inet static address 70.116.5.244 netmask 255.255.255.0 gateway 70.116.5.1 #THE NEW IP iface eth0:0 inet static address 26.175.217.102 netmask 255.255.255.0 #PRIVATE IP iface eth0:1 inet static address 192.168.158.88 netmask 255.255.128.0 NOTE: THESE IP'S ARE TWEAKED BUT RELATIVE I've read many questions here 90% similar to this but most actually have the IP respond, not this case. Thanks netstar -r output Kernel IP routing table Destination Gateway Genmask Flags MSS Window irtt Iface default gw-u6.linode.co 0.0.0.0 UG 0 0 0 eth0 70.116.5.0 * 255.255.255.0 U 0 0 0 eth0 26.175.217.0 * 255.255.255.0 U 0 0 0 eth0 192.168.128.0 * 255.255.128.0 U 0 0 0 eth0

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• excel chart dynamic range based on values

  - by andrewk

  I'm trying to create a chart that auto updates itself from a data provided. The range of the chart is always fixed/locked. The issue I'm facing is that when a value for a certain month is 0, I want it to skip to the last non-zero month . Meaning the ranges selected forming the chart should exclude the month with the value zero. Which in most cases is the top month. The image below should clear it up. Is there a way to have the chart range be dynamic based on certain values?

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