Merge branch 'main' of https://gitlab.fdmci.hva.nl/propedeuse-hbo-ict/onderwijs/2023-2024/out-a-se-ti/blok-4/muupooviixee66

docs/documentation/research-questions/motion-tracking-system-analysis.md

@@ -12,7 +12,7 @@ and where they've placed the tracking devices.
 
 A path can look like the following
 
-<img height="128" src="../assets/motion-path-example-vertices.png" width="128"/>
+<img height="128" src="../assets/motion-path-example-vertices.png" width="128" alt="Path Point Example"/>
 
 To be able to measure the position of our tracking device, we'll have to use sensors that allow us
 to retrieve useful information that can provide us with either position or velocity. The device will have
@@ -45,4 +45,6 @@ Second, to convert our relative acceleration rotation to a useful position, we'l
 acceleration vector `A(x, y, z)` and rotation vector `R(x, y, z)` to an acceleration vector that is
 perpendicular to the normal vector of the earth. This is because the acceleration vector of the device
 is relative to its own axes, and not to the earth's normal vector.
-To convert this, we'll have to multiply the acceleration vector `A(x, y, z)` by the rotation matrix
+To convert this, we'll have to multiply the acceleration vector `A(x, y, z)` by the rotation matrix
+with negative angles, to rotate it back to be perpendicular with the normal of the earth.
+After this transformation

docs/documentation/research-questions/position-tracking-research.md

@@ -55,7 +55,8 @@ The software of the system will consist of the following:
 
 The Wii Fit Board will be connected to Pepper using the Wiiboard-simple library. The library will be used to read the sensor data from the Wii Fit Board and transfer it to Pepper. The position tracking algorithm will process the sensor data and determine the user's position.
 
-Challenge: 
+Challenge:
+    - Connecting to the wii fit board. It is not possible to connect directly to the Wii Fit Board, it is necessary to use a library that can interpret the data sent by the Wii Fit Board.
     - The Wii Fit Balance Board sends data in a specific format. To interpret this data, it's necessary to understand the format and how to convert it to a usable format.
     - The Wii Fit Balance Board uses Bluetooth 2.0 to communicate. Pepper uses Bluetooth 4.0 this means that there might be compatibility issues/latancy issues.
 
@@ -79,6 +80,9 @@ To be added
 ## References
 
 [Wiiboard lib](https://code.google.com/archive/p/wiiboard-simple/wikis/Documentation.wiki)
+https://advanti-lab.sb.dfki.de/?page_id=64
+https://github.com/paulburton/fitscales
+https://github.com/micromu/WiiRemoteJ
 
 ## Appendices