Improvements for XsensDataReader

[alexbeattie42]

Fixes issue #3956

Brief summary of changes

1. Add a configuration option to XSensDataReaderSettings to specify a known data rate (sampling frequency).

2. Add a configuration option to XSensDataReaderSettings to specify a custom delimiter.

3. Add the ability to read in either a Rotation Matrix, Quaternion, or Euler angle values from Xsens files.

4. Update the parser to handle the path separator for data_folder.

5. Fix a memory leak in the original implementation.

6. Verify integrity and uniformity of all files.

Testing I've completed

• Existing unit tests
• Tested locally

Looking for feedback on...

CHANGELOG.md (choose one)

• Will update after review

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This change is 

[alexbeattie42]

@nickbianco could you take a look?

[nickbianco]

@aymanhab would you be willing to review this? I think you originally authored XsensDataReader.

[aymanhab]

@alexbeattie42 I'll try to get to this by next week, but wanted to know if you have access to files on the variety of old formats to test with since many of the quirks in the current reader were made to handle older exported files/folders that we don't have access to any more.

[alexbeattie42]

@alexbeattie42 I'll try to get to this by next week, but wanted to know if you have access to files on the variety of old formats to test with since many of the quirks in the current reader were made to handle older exported files/folders that we don't have access to any more.

Yes I do have access to old files (e.g., MT Manager 4.6 (2016)). This should be compatible with both the old and new format. I can try to pull some old files for testing this week and the existing unit tests which have various different versions are still present (I just split the tests into sections for easier debugging/troubleshooting).

[alexbeattie42]

@aymanhab I have extracted some files from MT Manager 4.6 from 2016 which have the following format

// Start Time: Unknown
// Update Rate: 100.0Hz
// Filter Profile: human (46.1)
// Firmware Version: 4.4.0
PacketCounter	SampleTimeFine	Year	Month	Day	Second	Acc_X	Acc_Y	Acc_Z	Gyr_X	Gyr_Y	Gyr_Z	Quat_q0	Quat_q1	Quat_q2	Quat_q3
04097						9.645108	0.128211	-1.834658	0.024471	0.002012	0.007768	0.414280	-0.578860	-0.508282	-0.484709
04098						9.622599	0.176720	-1.831047	0.022140	0.001999	0.005884	0.415598	-0.578145	-0.509091	-0.483584
04099						9.647392	0.223973	-1.839441	0.019333	0.001887	-0.000289	0.415658	-0.578099	-0.509134	-0.483541
04100						9.630348	0.249730	-1.810994	0.013515	0.001037	0.005899	0.415720	-0.578081	-0.509145	-0.483498
04101						9.630374	0.249007	-1.810955	0.000714	0.000150	0.006434	0.415738	-0.578096	-0.509128	-0.483483
04102						9.612776	0.250418	-1.781247	-0.009711	0.001394	0.006619	0.415763	-0.578099	-0.509072	-0.483517
04103						9.646966	0.197320	-1.837760	-0.018072	0.001543	0.007661	0.415733	-0.578153	-0.509003	-0.483552
04104						9.628825	0.174378	-1.806680	-0.015746	0.001555	0.009545	0.415727	-0.578188	-0.508931	-0.483589
04105						9.633765	0.126028	-1.780383	-0.013681	0.000458	0.010402	0.415714	-0.578242	-0.508867	-0.483604
04106						9.621734	0.123288	-1.827600	-0.009977	0.000285	0.005592	0.415747	-0.578228	-0.508811	-0.483650

l_comf_01.zip

Would you like me to add some tests in the repository against these files?

[aymanhab]

That would be awesome @alexbeattie42 as we don't have access or test cases to cover the multitude of options for export, so would be great to beef this up.