From 88c9908f1cd67c6123be7f86baa8e12fcb38a2b0 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Tue, 7 May 2024 16:25:10 +0200
Subject: [PATCH 01/33] Added basic WebSocket functionality (no decoding yet)

---
 .../fitbot/processing/MotionProcessor.java    |  4 -
 .../{ => util}/processing/MotionData.java     |  2 +-
 .../processing/MotionInputStream.java         | 13 ++-
 .../util/processing/MotionProcessor.java      |  4 +
 .../fitbot/util/server/IWebSocketHandler.java | 15 ++++
 .../example/fitbot/util/server/WebSocket.java | 66 ++++++++++++++
 .../server/WebSocketConnectionHandler.java    | 88 +++++++++++++++++++
 7 files changed, 184 insertions(+), 8 deletions(-)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionProcessor.java
 rename code/src/Fitbot/app/src/main/java/com/example/fitbot/{ => util}/processing/MotionData.java (97%)
 rename code/src/Fitbot/app/src/main/java/com/example/fitbot/{ => util}/processing/MotionInputStream.java (68%)
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionProcessor.java
deleted file mode 100644
index 9e0e13e..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionProcessor.java
+++ /dev/null
@@ -1,4 +0,0 @@
-package com.example.fitbot.processing;
-
-public class MotionProcessor {
-}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionData.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
similarity index 97%
rename from code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionData.java
rename to code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
index 4cc2abf..42c346c 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionData.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
@@ -1,4 +1,4 @@
-package com.example.fitbot.processing;
+package com.example.fitbot.util.processing;
 
 public class MotionData {
 
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionInputStream.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java
similarity index 68%
rename from code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionInputStream.java
rename to code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java
index 1598693..a4db7f6 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/processing/MotionInputStream.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java
@@ -1,4 +1,6 @@
-package com.example.fitbot.processing;
+package com.example.fitbot.util.processing;
+
+import com.example.fitbot.util.server.WebSocket;
 
 import java.io.InputStream;
 
@@ -17,9 +19,14 @@ public class MotionInputStream extends InputStream {
      */
     public static MotionInputStream startListening()
     {
-        // Create server
-
+        // Create socket server
+        WebSocket socket = WebSocket.createServer(80);
 
+        // Check if the socket
+        if ( socket != null )
+        {
+            socket.startListening();
+        }
         return null;
     }
 
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
new file mode 100644
index 0000000..6726312
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -0,0 +1,4 @@
+package com.example.fitbot.util.processing;
+
+public class MotionProcessor {
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java
new file mode 100644
index 0000000..db4a5f9
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java
@@ -0,0 +1,15 @@
+package com.example.fitbot.util.server;
+
+import java.net.Socket;
+
+/**
+ * Interface for handling WebSocket events.
+ */
+public interface IWebSocketHandler {
+
+    // Function for handling the connection of the WebSocket.
+    default void onConnected(Socket socket) {}
+    default void onDisconnected(Socket socket) {}
+    default void onMessageReceived(String message) {}
+    default void onError(Socket socket, String error) {}
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
new file mode 100644
index 0000000..f528fab
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
@@ -0,0 +1,66 @@
+package com.example.fitbot.util.server;
+
+import android.support.annotation.Nullable;
+import android.util.Log;
+
+import java.io.IOException;
+import java.net.ServerSocket;
+import java.net.Socket;
+import java.util.Collections;
+import java.util.HashSet;
+import java.util.Set;
+
+public class WebSocket {
+
+    private ServerSocket serverSocket;
+    private WebSocketConnectionHandler connectionHandler;
+    private final Set<Socket> clients = Collections.synchronizedSet(new HashSet<>());
+    protected IWebSocketHandler eventHandler = new IWebSocketHandler() {}; // NO-OP event handler.
+
+    /**
+     * Constructor for creating a new WebSocket server.
+     */
+    private WebSocket() {}
+
+    /**
+     * Function for creating a new WebSocket server given the provided port.
+     * @param port The port to configure the server to.
+     * @return A WebSocket connection, or null if something went wrong.
+     */
+    public static @Nullable WebSocket createServer(int port) {
+        try {
+            WebSocket socket = new WebSocket();
+            socket.serverSocket = new ServerSocket(port);
+            return socket;
+        } catch (IOException error)
+        {
+            String cause = error.getMessage() == null ? "Unknown reason" : error.getMessage();
+            Log.e("WebSocket -- Creating new WebSocket server", cause);
+            return null;
+        }
+    }
+
+    /**
+     * Method for listening for incoming connections.
+     */
+    public void startListening() {
+        this.connectionHandler = new WebSocketConnectionHandler(this);
+        this.connectionHandler.listen();
+    }
+
+    /**
+     * Method for getting the ServerSocket connection
+     * @return The ServerSocket connection.
+     */
+    public ServerSocket getSocket() {
+        return this.serverSocket;
+    }
+
+    /**
+     * Method for checking whether this WebSocket connection is connected.
+     * @return The connection status of the WebSocket.
+     */
+    public boolean isConnected() {
+        return !this.serverSocket.isClosed();
+    }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
new file mode 100644
index 0000000..4550f31
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
@@ -0,0 +1,88 @@
+package com.example.fitbot.util.server;
+
+import android.os.Build;
+import android.support.annotation.RequiresApi;
+import android.util.Log;
+
+import java.io.IOException;
+import java.net.Socket;
+import java.nio.charset.StandardCharsets;
+import java.security.MessageDigest;
+import java.security.NoSuchAlgorithmException;
+import java.util.Base64;
+import java.util.Scanner;
+import java.util.regex.Matcher;
+import java.util.regex.Pattern;
+
+public class WebSocketConnectionHandler implements Runnable {
+
+    private final WebSocket theSocket;
+    private Thread thread;
+
+    /**
+     * Constructor for WebSocketConnectionHandler.
+     * This class handles all new incoming Socket connections.
+     * @param webSocket The socket to check for new connections.
+     */
+    protected WebSocketConnectionHandler(WebSocket webSocket) {
+        this.theSocket = webSocket;
+    }
+
+    @RequiresApi(api = Build.VERSION_CODES.O)
+    @Override
+    public void run() {
+        while (theSocket.isConnected()) {
+            try {
+                Socket newSocket = this.theSocket.getSocket().accept();
+                this.theSocket.eventHandler.onConnected(newSocket);
+
+                Scanner scanner = new Scanner(newSocket.getInputStream(), "UTF-8");
+                String data = scanner.useDelimiter("\\r\\n\\r\\n").next();
+                Matcher header = Pattern.compile("^GET").matcher(data);
+
+                // Check if the header contains the GET keyword
+                // If this is the case, upgrade the HTTP connection to WebSocket.
+                if (header.find()) {
+                    Matcher match = Pattern.compile("Sec-WebSocket-Key: (.*)").matcher(data);
+                    match.find();
+
+                    String SECAccept = Base64.getEncoder().encodeToString(
+                            MessageDigest.getInstance("SHA-1").digest((match.group(1) + "258EAFA5-E914-47DA-95CA-C5AB0DC85B11").getBytes(StandardCharsets.UTF_8)));
+
+                    byte[] response = (
+                            "HTTP/1.1 101 Switching Protocols\r\n" +
+                            "Connection: Upgrade\r\n" +
+                            "Upgrade: websocket\r\n" +
+                            "Sec-WebSocket-Accept: " +
+                            SECAccept + "\r\n\r\n").getBytes(StandardCharsets.UTF_8);
+                    newSocket.getOutputStream().write(response, 0, response.length);
+
+                    // TODO: Read data from socket and provide in onMessageReceived.
+
+                }
+
+            } catch (IOException | NoSuchAlgorithmException error) {
+                String reason = error.getMessage() == null ? "Unknown reason" : error.getMessage();
+                Log.e("WebSocketConnectionHandler", "Error listening to Socket connections: " + reason);
+                break;
+            }
+        }
+    }
+
+    /**
+     * Method for checking whether the connection handler is actively listening.
+     * @return Whether or not it's listening.
+     */
+    public boolean isActive() {
+        return this.thread.isAlive();
+    }
+
+    /**
+     * Method for listening to all new incoming socket connections.
+     */
+    public void listen() {
+        this.thread = new Thread(this);
+        this.thread.start();
+        Log.i("WebSocketConnectionHandler", "Listening started.");
+    }
+}

From 1695f08fb224c32a61a440f1aad5bea0041388fc Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 8 May 2024 14:40:14 +0200
Subject: [PATCH 02/33] Added motion processing, fixed WebSocket packet
 processing, added Vector math to process motion data

---
 .idea/workspace.xml                           |  29 +--
 .../fitbot/util/processing/MotionData.java    |  33 ++--
 .../util/processing/MotionInputStream.java    |  38 ----
 .../util/processing/MotionProcessor.java      |  91 ++++++++++
 .../fitbot/util/processing/Vector3.java       | 165 ++++++++++++++++++
 .../fitbot/util/server/IWebSocketHandler.java |   5 +-
 .../example/fitbot/util/server/WebSocket.java |  70 ++++++++
 .../util/server/WebSocketConnection.java      |  35 ++++
 .../server/WebSocketConnectionHandler.java    | 150 +++++++++++++---
 .../fitbot/WebSocketMessageParsingTest.java   |  37 ++++
 .../Luca/literatuuronderzoek/onderzoek.md     |  22 +++
 11 files changed, 587 insertions(+), 88 deletions(-)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnection.java
 create mode 100644 code/src/Fitbot/app/src/test/java/com/example/fitbot/WebSocketMessageParsingTest.java

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 22bfcea..fb9da63 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -15,9 +15,14 @@
   </component>
   <component name="ChangeListManager">
     <list default="true" id="00599d5b-7eb5-44da-ad7f-98bf42384c16" name="Changes" comment="Final update onderzoek-formulier.md">
-      <change afterPath="$PROJECT_DIR$/docs/personalDocs/Luca/weekly-reports/sprint-1-week-1.md" afterDir="false" />
-      <change afterPath="$PROJECT_DIR$/docs/personalDocs/Luca/weekly-reports/sprint-1-week-2.md" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java" afterDir="false" />
+      <change afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnection.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java" beforeDir="false" />
+      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -70,10 +75,10 @@
   <component name="MarkdownSettingsMigration">
     <option name="stateVersion" value="1" />
   </component>
-  <component name="ProjectColorInfo"><![CDATA[{
-  "customColor": "",
-  "associatedIndex": 7
-}]]></component>
+  <component name="ProjectColorInfo">{
+  &quot;customColor&quot;: &quot;&quot;,
+  &quot;associatedIndex&quot;: 7
+}</component>
   <component name="ProjectId" id="2fE3N2CwEPDo9wBtexBLxU20tCJ" />
   <component name="ProjectLevelVcsManager">
     <ConfirmationsSetting value="2" id="Add" />
@@ -85,13 +90,16 @@
   <component name="PropertiesComponent"><![CDATA[{
   "keyToString": {
     "RunOnceActivity.OpenProjectViewOnStart": "true",
-    "git-widget-placeholder": "Merging main",
+    "RunOnceActivity.ShowReadmeOnStart": "true",
+    "git-widget-placeholder": "44-als-gebruiker-wil-ik-dat-ik-feedback-krijg-als-mijn-bewegingen-niet-op…-weet",
     "kotlin-language-version-configured": "true",
+    "last_opened_file_path": "/Users/lucawarm/Jetbrains/Android Studio/muupooviixee66",
     "node.js.detected.package.eslint": "true",
     "node.js.detected.package.tslint": "true",
     "node.js.selected.package.eslint": "(autodetect)",
     "node.js.selected.package.tslint": "(autodetect)",
     "nodejs_package_manager_path": "npm",
+    "settings.editor.selected.configurable": "preferences.pluginManager",
     "vue.rearranger.settings.migration": "true"
   }
 }]]></component>
@@ -118,10 +126,7 @@
       <option name="INSPECTION_WITHOUT_ACTIVITY_RESTART" value="false" />
       <option name="TARGET_SELECTION_MODE" value="SHOW_DIALOG" />
       <option name="DEBUGGER_TYPE" value="Java" />
-      <Java>
-        <option name="ATTACH_ON_WAIT_FOR_DEBUGGER" value="false" />
-        <option name="DEBUG_SANDBOX_SDK" value="false" />
-      </Java>
+      <Java />
       <Profilers>
         <option name="ADVANCED_PROFILING_ENABLED" value="false" />
         <option name="STARTUP_PROFILING_ENABLED" value="false" />
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
index 42c346c..8278192 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
@@ -1,14 +1,11 @@
 package com.example.fitbot.util.processing;
 
+import java.util.Objects;
+
 public class MotionData {
 
     // Data of the motion sensor
-    public float accelerationX;
-    public float accelerationY;
-    public float accelerationZ;
-    public float rotationX;
-    public float rotationY;
-    public float rotationZ;
+    public Vector3 acceleration, rotation;
 
     // Delimiter for the data received from the motion sensor
     private static final String DATA_DELIMITER = ";";
@@ -24,12 +21,19 @@ public class MotionData {
      * @param rotationZ     The rotation in the Z axis in degrees.
      */
     public MotionData(float accelerationX, float accelerationY, float accelerationZ, float rotationX, float rotationY, float rotationZ) {
-        this.accelerationX = accelerationX;
-        this.accelerationY = accelerationY;
-        this.accelerationZ = accelerationZ;
-        this.rotationX = rotationX;
-        this.rotationY = rotationY;
-        this.rotationZ = rotationZ;
+        this.acceleration = new Vector3(accelerationX, accelerationY, accelerationZ);
+        this.rotation = new Vector3(rotationX, rotationY, rotationZ);
+    }
+
+    /**
+     * Constructor for the MotionData class.
+     *
+     * @param acceleration The acceleration vector in m/s^2.
+     * @param rotation     The rotation vector in degrees.
+     */
+    public MotionData(Vector3 acceleration, Vector3 rotation) {
+        this.acceleration = acceleration;
+        this.rotation = rotation;
     }
 
     /**
@@ -41,7 +45,12 @@ public class MotionData {
      * @return An instance of MotionData.
      */
     public static MotionData decode(String data) {
+        Objects.requireNonNull(data); // Ensure data is not null
+
         String[] parts = data.split(DATA_DELIMITER);
+        if (parts.length != 6)
+            return null;
+
         return new MotionData(
                 Float.parseFloat(parts[0]),
                 Float.parseFloat(parts[1]),
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java
deleted file mode 100644
index a4db7f6..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java
+++ /dev/null
@@ -1,38 +0,0 @@
-package com.example.fitbot.util.processing;
-
-import com.example.fitbot.util.server.WebSocket;
-
-import java.io.InputStream;
-
-/**
- * Class representing the input stream of the motion sensor.
- * This class will be responsible for reading the data from
- * the motion sensor and processing it, by creating a
- * server and starting a WebSocket connection with the ESP32.
- */
-public class MotionInputStream extends InputStream {
-
-    /**
-     * Function for starting the listening process
-     * of the motion sensor. This function will
-     * @return An instance of MotionInputStream.
-     */
-    public static MotionInputStream startListening()
-    {
-        // Create socket server
-        WebSocket socket = WebSocket.createServer(80);
-
-        // Check if the socket
-        if ( socket != null )
-        {
-            socket.startListening();
-        }
-        return null;
-    }
-
-
-    @Override
-    public int read() {
-        return 0;
-    }
-}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index 6726312..9711e10 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -1,4 +1,95 @@
 package com.example.fitbot.util.processing;
 
+import android.util.Log;
+
+import com.example.fitbot.util.server.IWebSocketHandler;
+import com.example.fitbot.util.server.WebSocket;
+
+import org.jetbrains.annotations.NotNull;
+
+import java.util.ArrayList;
+import java.util.List;
+
 public class MotionProcessor {
+
+    private static final int MAX_PATH_LENGTH = 100;
+    public static final String DELIMITER = ";";
+
+    private final List<MotionData> motionData = new ArrayList<>();
+    private final Vector3[] relativePath = new Vector3[MAX_PATH_LENGTH];
+    private Vector3 ZERO = new Vector3(0, 0, 0);
+    private int sampleRate = 1;
+
+    public MotionProcessor() {}
+
+
+    /**
+     * Function for starting the listening process
+     * of the motion sensor. This function will create
+     * a new WebSocket server and start listening for
+     * incoming connections.
+     */
+    public void startListening() {
+        // Create socket server
+        WebSocket socket = WebSocket.createServer(80);
+
+        // Check if the socket
+        if (socket != null) {
+            // Update event handler to match our functionality.
+            socket.setEventHandler(new IWebSocketHandler() {
+                @Override
+                public void onMessageReceived(WebSocket.Message message, WebSocket.MessageReply replier) {
+                    parsePacket(message.message);
+                }
+            });
+            socket.startListening();
+        }
+    }
+
+    /**
+     * Function for parsing arbitrary packet data.
+     * @param data The data to parse.
+     */
+    private void parsePacket(@NotNull String data) {
+        // If the message starts with 'data', it's a data packet.
+        if ( data.startsWith("data")) {
+            MotionData parsedData = MotionData.decode(data.split(" ")[1]);
+            if (parsedData != null) {
+                this.motionData.add(parsedData);
+            }
+            // Otherwise check if it starts with 'calibrate', this is the ZERO point.
+        } else if ( data.startsWith("calibrate")) { // message to calibrate device
+            String[] vectorData = data.split(" ")[1].split(DELIMITER);
+            ZERO = new Vector3(
+                    Float.parseFloat(vectorData[0]),
+                    Float.parseFloat(vectorData[1]),
+                    Float.parseFloat(vectorData[2])
+            );
+            Log.i("MotionProcessor", "Device calibrated at " + ZERO.toString());
+        } else if ( data.startsWith("sampleRate")) {
+            this.sampleRate = Integer.parseInt(data.split(" ")[1]);
+        }
+    }
+
+    /**
+     * Function for calculating the path of the device.
+     * This only works when the ZERO point has been provided.
+     */
+    private void calculatePath() {
+
+        int offset = Math.max(0, motionData.size() - MAX_PATH_LENGTH);
+        Vector3 previous = ZERO.copy();
+
+        for (int i = offset; i < motionData.size(); i++) {
+            MotionData data = motionData.get(i);
+
+            // Get relative vector from the ZERO point
+            Vector3 relativePosition = data.acceleration
+                    .rotate(data.rotation.negate()) // Rotate acceleration vector with it's angle to get the acceleration relative to the vector of gravity
+                    .map((vector) ->  vector.) // Convert acceleration to relative spatial change
+
+            relativePath[i - offset]
+        }
+    }
+
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
new file mode 100644
index 0000000..a862af8
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
@@ -0,0 +1,165 @@
+package com.example.fitbot.util.processing;
+
+public class Vector3 {
+
+    public double x, y, z;
+
+    /**
+     * Constructor for creating a new vector.
+     *
+     * @param x The X component of the vector.
+     * @param y The Y component of the vector.
+     * @param z The Z component of the vector.
+     */
+    public Vector3(double x, double y, double z) {
+        this.x = x;
+        this.y = y;
+        this.z = z;
+    }
+
+    /**
+     * Copy the vector.
+     *
+     * @return A new vector with the same values.
+     */
+    public Vector3 copy() {
+        return new Vector3(this.x, this.y, this.z);
+    }
+
+    /**
+     * Subtract the vector from another vector.
+     *
+     * @param other The other vector to subtract.
+     * @return The new vector.
+     */
+    public Vector3 subtract(Vector3 other) {
+        return new Vector3(this.x - other.x, this.y - other.y, this.z - other.z);
+    }
+
+    /**
+     * Add the vector to another vector.
+     *
+     * @param other The other vector to add.
+     * @return The new vector.
+     */
+    public Vector3 add(Vector3 other) {
+        return new Vector3(this.x + other.x, this.y + other.y, this.z + other.z);
+    }
+
+    /**
+     * Multiply the vector by a scalar.
+     *
+     * @param scalar The scalar to multiply by.
+     * @return The multiplied vector.
+     */
+    public Vector3 multiply(double scalar) {
+        return new Vector3(this.x * scalar, this.y * scalar, this.z * scalar);
+    }
+
+    /**
+     * Divide the vector by a scalar.
+     *
+     * @param scalar The scalar to divide by.
+     * @return The divided vector.
+     */
+    public Vector3 divide(double scalar) {
+        if (scalar == 0) throw new IllegalArgumentException("Cannot divide by zero.");
+        return new Vector3(this.x / scalar, this.y / scalar, this.z / scalar);
+    }
+
+    /**
+     * Negate the vector.
+     *
+     * @return The negated vector.
+     */
+    public Vector3 negate() {
+        return new Vector3(-this.x, -this.y, -this.z);
+    }
+
+    /**
+     * Rotate the vector around the X, Y, and Z axes.
+     *
+     * @param radX Rotation around the X axis in radians.
+     * @param radY Rotation around the Y axis in radians.
+     * @param radZ Rotation around the Z axis in radians.
+     * @return The rotated vector.
+     */
+    public Vector3 rotate(double radX, double radY, double radZ) {
+        double cosX = Math.cos(radX);
+        double cosY = Math.cos(radY);
+        double cosZ = Math.cos(radZ);
+        double sinX = Math.sin(radX);
+        double sinY = Math.sin(radY);
+        double sinZ = Math.sin(radZ);
+        double newX = x * cosY * cosZ + y * cosY * sinZ - z * sinY;
+        double newY = x * (sinX * sinY * cosZ - cosX * sinZ) + y * (sinX * sinY * sinZ + cosX * cosZ) + z * sinX * cosY;
+        double newZ = x * (cosX * sinY * cosZ + sinX * sinZ) + y * (cosX * sinY * sinZ - sinX * cosZ) + z * cosX * cosY;
+        return new Vector3(newX, newY, newZ);
+    }
+
+    /**
+     * Rotate the vector around the X, Y, and Z axes.
+     *
+     * @param rotation The rotation vector.
+     * @return The rotated vector.
+     */
+    public Vector3 rotate(Vector3 rotation) {
+        return rotate(rotation.x, rotation.y, rotation.z);
+    }
+
+    /**
+     * Rotate the vector around the X axis.
+     *
+     * @param angle Rotation around the X axis in radians.
+     * @return The rotated vector.
+     */
+    public Vector3 rotateX(double angle) {
+        double sinTheta = Math.sin(angle);
+        double cosTheta = Math.cos(angle);
+        return new Vector3(
+                x,
+                y * cosTheta - z * sinTheta,
+                y * sinTheta + z * cosTheta
+        );
+    }
+
+    /**
+     * Rotate the vector around the Y axis.
+     *
+     * @param angle Rotation around the Y axis in radians.
+     * @return The rotated vector.
+     */
+    public Vector3 rotateY(double angle) {
+        double sinTheta = Math.sin(angle);
+        double cosTheta = Math.cos(angle);
+        return new Vector3(
+                x * cosTheta + z * sinTheta,
+                y,
+                -x * sinTheta + z * cosTheta
+        );
+    }
+
+    /**
+     * Rotate the vector around the Z axis.
+     *
+     * @param angle Rotation around the Z axis in radians.
+     * @return The rotated vector.
+     */
+    public Vector3 rotateZ(double angle) {
+        double sinTheta = Math.sin(angle);
+        double cosTheta = Math.cos(angle);
+        return new Vector3(
+                x * cosTheta - y * sinTheta,
+                x * sinTheta + y * cosTheta,
+                z
+        );
+    }
+
+    public Vector3 map(VectorMapFunction function) {
+        return function.apply(this);
+    }
+
+    public interface VectorMapFunction {
+        Vector3 apply(Vector3 vector);
+    }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java
index db4a5f9..fa4cc98 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java
@@ -9,7 +9,10 @@ public interface IWebSocketHandler {
 
     // Function for handling the connection of the WebSocket.
     default void onConnected(Socket socket) {}
+
     default void onDisconnected(Socket socket) {}
-    default void onMessageReceived(String message) {}
+
+    default void onMessageReceived(WebSocket.Message message, WebSocket.MessageReply replier) {}
+
     default void onError(Socket socket, String error) {}
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
index f528fab..e48e1f0 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
@@ -48,6 +48,19 @@ public class WebSocket {
         this.connectionHandler.listen();
     }
 
+    /**
+     * Method for setting the event handler for this WebSocket server.
+     * @param handler The handler to use. This handler will parse all events
+     *                that occur in this WebSocket connection. The events are the followed:
+     *                - onMessageReceived(Socket, String)
+     *                - onConnected(Socket)
+     *                - onDisconnected(Socket)
+     *                - onError(Socket, String)
+     */
+    public void setEventHandler(IWebSocketHandler handler) {
+        this.eventHandler = handler;
+    }
+
     /**
      * Method for getting the ServerSocket connection
      * @return The ServerSocket connection.
@@ -63,4 +76,61 @@ public class WebSocket {
     public boolean isConnected() {
         return !this.serverSocket.isClosed();
     }
+
+    /**
+     * Class representing a message received from a WebSocket connection.
+     */
+    public static class Message {
+
+        // Enumerable representing message type (opcode).
+        public enum Type {
+
+            CONTINUING((byte) 0x0),
+            TEXT((byte) 0x1),
+            BINARY((byte) 0x2),
+            RES0((byte) 0x3), RES1((byte) 0x4), RES2((byte) 0x5), RES3((byte) 0x6), RES4((byte) 0x7),
+            CLOSE_CONNECTION((byte) 0x8),
+            PING((byte) 0x9),
+            PONG((byte) 0xA),
+            RES5((byte) 0xB), RES6((byte) 0xC), RES7((byte) 0xD), RES8((byte) 0xE), RES9((byte) 0xF);
+            
+            byte opcode;
+            Type(final byte opcode) {
+                this.opcode = opcode;
+            }
+
+            /**
+             * Method for decoding the opcode of a message.
+             * @param opcode The opcode to decode.
+             * @return The message type.
+             */
+            public Type decode(byte opcode) {
+                return Type.values()[opcode & 0xF];
+            }
+            // Returns the opcode of this message type.
+            public byte getOpcode() { return this.opcode; }
+        }
+
+        public String message;
+        public WebSocketConnection connection;
+
+        /**
+         * Constructor for a WebSocket message.
+         * @param message The message that was sent
+         * @param connection The connection where the message came from.
+         */
+        public Message(WebSocketConnection connection, String message) {
+            this.message = message;
+            this.connection = connection;
+        }
+    }
+
+    /**
+     * Interface for a message reply.
+     * This can be used for when a message has been received from a client
+     * to reply back to the client.
+     */
+    public interface MessageReply {
+        void reply(String message);
+    }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnection.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnection.java
new file mode 100644
index 0000000..60e0ae1
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnection.java
@@ -0,0 +1,35 @@
+package com.example.fitbot.util.server;
+
+import java.net.Socket;
+
+public class WebSocketConnection {
+
+    private final WebSocket origin;
+    private final Socket socket;
+
+    /**
+     * Constructor for creating an arbitrary WebSocket connection (Client)
+     * @param connection The server connection
+     * @param socket The client socket
+     */
+    public WebSocketConnection(WebSocket connection, Socket socket) {
+        this.origin = connection;
+        this.socket = socket;
+    }
+
+    /**
+     * Getter method for retrieving the WebSocket connection
+     * @return The WebSocket instance.
+     */
+    public WebSocket getOrigin() {
+        return origin;
+    }
+
+    /**
+     * Getter method for retrieving the Client Socket connection.
+     * @return The Socket connection.
+     */
+    public Socket getSocket() {
+        return socket;
+    }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
index 4550f31..4018ce4 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
@@ -5,6 +5,8 @@ import android.support.annotation.RequiresApi;
 import android.util.Log;
 
 import java.io.IOException;
+import java.io.InputStream;
+import java.io.OutputStream;
 import java.net.Socket;
 import java.nio.charset.StandardCharsets;
 import java.security.MessageDigest;
@@ -22,6 +24,7 @@ public class WebSocketConnectionHandler implements Runnable {
     /**
      * Constructor for WebSocketConnectionHandler.
      * This class handles all new incoming Socket connections.
+     *
      * @param webSocket The socket to check for new connections.
      */
     protected WebSocketConnectionHandler(WebSocket webSocket) {
@@ -31,37 +34,22 @@ public class WebSocketConnectionHandler implements Runnable {
     @RequiresApi(api = Build.VERSION_CODES.O)
     @Override
     public void run() {
+        // Listen for new connections until the socket
+        // closes.
         while (theSocket.isConnected()) {
             try {
+                // Find a new connection
                 Socket newSocket = this.theSocket.getSocket().accept();
                 this.theSocket.eventHandler.onConnected(newSocket);
 
-                Scanner scanner = new Scanner(newSocket.getInputStream(), "UTF-8");
-                String data = scanner.useDelimiter("\\r\\n\\r\\n").next();
-                Matcher header = Pattern.compile("^GET").matcher(data);
-
-                // Check if the header contains the GET keyword
-                // If this is the case, upgrade the HTTP connection to WebSocket.
-                if (header.find()) {
-                    Matcher match = Pattern.compile("Sec-WebSocket-Key: (.*)").matcher(data);
-                    match.find();
-
-                    String SECAccept = Base64.getEncoder().encodeToString(
-                            MessageDigest.getInstance("SHA-1").digest((match.group(1) + "258EAFA5-E914-47DA-95CA-C5AB0DC85B11").getBytes(StandardCharsets.UTF_8)));
-
-                    byte[] response = (
-                            "HTTP/1.1 101 Switching Protocols\r\n" +
-                            "Connection: Upgrade\r\n" +
-                            "Upgrade: websocket\r\n" +
-                            "Sec-WebSocket-Accept: " +
-                            SECAccept + "\r\n\r\n").getBytes(StandardCharsets.UTF_8);
-                    newSocket.getOutputStream().write(response, 0, response.length);
-
-                    // TODO: Read data from socket and provide in onMessageReceived.
+                InputStream streamIn = newSocket.getInputStream();
+                OutputStream streamOut = newSocket.getOutputStream();
 
+                // Check if the connection was successfully upgraded to WebSocket
+                if (upgradeConnection(streamIn, streamOut)) {
+                    applyMessageDecoder(streamIn);
                 }
-
-            } catch (IOException | NoSuchAlgorithmException error) {
+            } catch (IOException  error) {
                 String reason = error.getMessage() == null ? "Unknown reason" : error.getMessage();
                 Log.e("WebSocketConnectionHandler", "Error listening to Socket connections: " + reason);
                 break;
@@ -69,9 +57,121 @@ public class WebSocketConnectionHandler implements Runnable {
         }
     }
 
+    /**
+     * Method for upgrading a HTTP connection to a WebSocket connection.
+     * This checks whether the client sent a GET header and sends back
+     * the required headers to upgrade the connection.
+     * @param streamIn  The InputStream of the client socket connection.
+     * @param streamOut The OutputStream of the client socket connection.
+     * @return Whether or not the connection was successfully upgraded.
+     */
+    @RequiresApi(api = Build.VERSION_CODES.O)
+    private boolean upgradeConnection(InputStream streamIn, OutputStream streamOut) {
+        Scanner scanner = new Scanner(streamIn, "UTF-8");
+        String data = scanner.useDelimiter("\\r\\n\\r\\n").next();
+        Matcher header = Pattern.compile("^GET").matcher(data);
+
+        // Check if the header contains the GET keyword
+        // If this is the case, upgrade the HTTP connection to WebSocket.
+        if (!header.find())
+            return false;
+
+        Matcher match = Pattern.compile("Sec-WebSocket-Key: (.*)").matcher(data);
+        match.find(); // Get next match
+
+        try {
+            String SECAccept = Base64.getEncoder().encodeToString(
+                    MessageDigest.getInstance("SHA-1").digest((match.group(1) + "258EAFA5-E914-47DA-95CA-C5AB0DC85B11").getBytes(StandardCharsets.UTF_8)));
+
+            byte[] response = (
+                            "HTTP/1.1 101 Switching Protocols\r\n" +
+                            "Connection: Upgrade\r\n" +
+                            "Upgrade: websocket\r\n" +
+                            "Sec-WebSocket-Accept: " +
+                            SECAccept + "\r\n\r\n").getBytes(StandardCharsets.UTF_8);
+            streamOut.write(response, 0, response.length);
+
+        } catch (IOException | NoSuchAlgorithmException error) {
+            Log.e("WebSocketConnectionHandler", "Failed upgrading HTTP to WebSocket connection" + error.getMessage());
+            return false;
+        }
+        return true;
+    }
+
+    /**
+     * Method for applying a message decoder for whenever a socket receives data.
+     * This method attemps to decode a message received from a WebSocket connection.
+     * This message is in the
+     * @param streamIn The message stream to decode.
+     */
+    private void applyMessageDecoder(InputStream streamIn) {
+
+    }
+
+    /**
+     * Method for decoding an encoded WebSocket message
+     * @param bytes The message to decode, in UTF-8 format.
+     * @return The decoded message.
+     * @throws IllegalArgumentException When the `frame` content is in an incorrect format.
+     */
+    public static String decodeWebSocketMessage(byte[] bytes) {
+        // Check if the packet isn't corrupted
+        if (bytes.length <= 2 || (bytes[0] & 0b1110) != 0)
+            throw new IllegalArgumentException("Attempted to decode corrupted WebSocket frame data");
+
+        byte opcode        = (byte) (bytes[0] & 0b11110000); // Opcode (4 bits)
+        byte payloadLength = (byte) (bytes[1] & 0b01111111); // Payload size (7 bits)
+        boolean fin        = (bytes[0] & 0b1) != 0; // Whether this is the whole message
+        boolean masked     = (bytes[1] & 0b10000000) != 0; // Whether the 9th bit is masked
+
+        System.out.printf("Fin: %b, Opcode: %d, masked: %b\n", fin, opcode, masked);
+
+        long extendedPayloadLength = 0;
+        int byteOffset = 2;
+
+        // Check whether the payload length is 16-bit
+        if (payloadLength == 126) {
+            // 16-bit extended payload length (byte 2 and 3)
+            extendedPayloadLength = ((bytes[2] & 0xFF) << 8) | (bytes[3] & 0xFF);
+            byteOffset += 2;
+
+            // Check whether payload length is 64-bit
+        } else if (payloadLength == 127) {
+            // 64-bit extended payload length
+            for (int i = 0; i < 8; i++)
+                extendedPayloadLength |= (long) (bytes[2 + i] & 0xFF) << ((7 - i) * 8);
+            byteOffset += 8;
+
+        } else {
+            extendedPayloadLength = payloadLength;
+        }
+
+        byte[] maskingKey = null;
+        byte[] payloadData = new byte[(int) extendedPayloadLength];
+
+
+        // Check if the MASK bit was set, if so, copy the key to the `maskingKey` array.
+        if (masked) {
+            maskingKey = new byte[4];
+            System.arraycopy(bytes, byteOffset, maskingKey, 0, 4); // move mask bytes
+            byteOffset += 4;
+        }
+
+        // Copy payload bytes into `payloadData` array.
+        System.arraycopy(bytes, byteOffset, payloadData, 0, payloadData.length);
+
+        // If mask is present, decode the payload data with the mask.
+        if (masked)
+            for (int i = 0; i < payloadData.length; i++)
+                payloadData[i] ^= maskingKey[i % 4];
+
+        // Convert payload data to string
+        return new String(payloadData, StandardCharsets.UTF_8);
+    }
+
     /**
      * Method for checking whether the connection handler is actively listening.
-     * @return Whether or not it's listening.
+     * @return Whether it's listening.
      */
     public boolean isActive() {
         return this.thread.isAlive();
diff --git a/code/src/Fitbot/app/src/test/java/com/example/fitbot/WebSocketMessageParsingTest.java b/code/src/Fitbot/app/src/test/java/com/example/fitbot/WebSocketMessageParsingTest.java
new file mode 100644
index 0000000..3dd4107
--- /dev/null
+++ b/code/src/Fitbot/app/src/test/java/com/example/fitbot/WebSocketMessageParsingTest.java
@@ -0,0 +1,37 @@
+package com.example.fitbot;
+
+
+import com.example.fitbot.util.server.WebSocketConnectionHandler;
+
+import org.junit.Test;
+
+/**
+ * Created on 07/05/2024 at 18:27
+ * by Luca Warmenhoven.
+ */
+public class WebSocketMessageParsingTest {
+
+    @Test
+    public void parseWebSocketMessage() {
+
+        String reference = "abcdef";
+        final byte[] encoded = {
+                (byte) 129, (byte) 134, (byte) 167,
+                (byte) 225, (byte) 225, (byte) 210,
+                (byte) 198, (byte) 131, (byte) 130,
+                (byte) 182, (byte) 194, (byte) 135
+        };
+        String decoded = "";
+        try {
+            decoded = WebSocketConnectionHandler.decodeWebSocketMessage(encoded);
+        } catch (Exception e) {
+            System.err.println("Error occurred whilst attempting to parse input" + e.getMessage());
+        }
+        System.out.println("Parsed output: '" + decoded + "'");
+        if (decoded.equals(reference)) {
+            System.out.println("Test passed");
+        } else {
+            System.out.println("Test failed");
+        }
+    }
+}
diff --git a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek.md b/docs/personalDocs/Luca/literatuuronderzoek/onderzoek.md
index cbd709b..2c945f4 100644
--- a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek.md
+++ b/docs/personalDocs/Luca/literatuuronderzoek/onderzoek.md
@@ -1,3 +1,25 @@
+## Hoe kan technologie worden ingezet om cognitieve achteruitgang tegen te gaan?
+
+
+### Welke oorzaken zijn er voor cognitieve achteruitgang?
+
+### Wat voor methodes zijn er om cognitieve achteruitgang te remmen?
+
+### Hoe kan techniek worden toegepast om 
+
+
+
+
+
+
+Inleiding: ~10% 
+Conclusie: ~10% 
+~300 woorden totaal
+
+Minimaal 5 bronnen zoeken 
+
+
+
 ## Hoe kunnen ethische richtlijnen worden ontwikkeld voor het toepassen van kunstmatige intelligentie bij het aanpakken van eenzaamheid onder ouderen?
 
 ---

From ed49392210601ffbd5d0c828aadb69ee76756b26 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 8 May 2024 15:41:04 +0200
Subject: [PATCH 03/33] Updated math behind path error calculation, fixed
 WebSocket not starting.

---
 .../java/com/example/fitbot/MainActivity.java |  9 +----
 .../java/com/example/fitbot/MainScreen.java   | 21 +++++++++--
 .../fitbot/util/processing/GesturePath.java   | 28 +++++++++++++++
 .../fitbot/util/processing/MotionData.java    | 17 +++++++++
 .../util/processing/MotionProcessor.java      | 33 +++++++++++------
 .../fitbot/util/processing/Vector3.java       | 36 +++++++++++++++++++
 .../example/fitbot/util/server/WebSocket.java | 11 +++---
 7 files changed, 129 insertions(+), 26 deletions(-)
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java
index e90e88c..4a77e68 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java
@@ -1,8 +1,6 @@
 package com.example.fitbot;
 
-import android.content.Intent;
 import android.os.Bundle;
-import android.widget.Button;
 
 import com.aldebaran.qi.sdk.QiContext;
 import com.aldebaran.qi.sdk.QiSDK;
@@ -14,7 +12,6 @@ import com.aldebaran.qi.sdk.object.conversation.Say;
 import com.aldebaran.qi.sdk.object.locale.Language;
 import com.aldebaran.qi.sdk.object.locale.Locale;
 import com.aldebaran.qi.sdk.object.locale.Region;
-import com.example.fitbot.ui.SportMenuActivity;
 
 public class MainActivity extends RobotActivity implements RobotLifecycleCallbacks {
 
@@ -22,12 +19,8 @@ public class MainActivity extends RobotActivity implements RobotLifecycleCallbac
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
         // Register the RobotLifecycleCallbacks to this Activity.
-        Button button = findViewById(R.id.menu_switch_btn);
-        button.setOnClickListener(v -> {
-            startActivity(new Intent(MainActivity.this, SportMenuActivity.class));
-        });
-        QiSDK.register(this, this);
 
+        QiSDK.register(this, this);
     }
 
     @Override
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
index 323641c..8b72054 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
@@ -1,7 +1,6 @@
 package com.example.fitbot;
 
 import android.annotation.SuppressLint;
-import android.content.Intent;
 import android.os.Bundle;
 import android.support.design.widget.NavigationView;
 import android.support.v4.view.GravityCompat;
@@ -9,9 +8,10 @@ import android.support.v4.widget.DrawerLayout;
 import android.support.v7.app.ActionBarDrawerToggle;
 import android.support.v7.app.AppCompatActivity;
 import android.support.v7.widget.Toolbar;
-import android.widget.Button;
 
-import com.example.fitbot.ui.SportMenuActivity;
+import com.example.fitbot.util.processing.GesturePath;
+import com.example.fitbot.util.processing.MotionProcessor;
+import com.example.fitbot.util.processing.Vector3;
 
 public class MainScreen extends AppCompatActivity {
 
@@ -31,6 +31,21 @@ public class MainScreen extends AppCompatActivity {
         navigationView = findViewById(R.id.nav_view);
         toolbar = findViewById(R.id.toolbar);
 
+        MotionProcessor motionProcessor = new MotionProcessor();
+        motionProcessor.startListening();
+
+        motionProcessor.parsePacket("sampleRate 1");
+
+        Vector3[] path = new Vector3[100];
+
+        for ( int i = 0; i < 100; i++ ) {
+            path[i] = new Vector3(0, Math.sin(i * Math.PI / 50), 0);
+            motionProcessor.parsePacket("data 0;" + Math.cos(i * Math.PI / 50) + ";0;0;0;0");
+        }
+
+        motionProcessor.calculatePath(new GesturePath(path));
+        motionProcessor.printData();
+
         /*---Tool Bar---*/
 //      setSupportActionBar(toolbar);
 
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
new file mode 100644
index 0000000..db15312
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
@@ -0,0 +1,28 @@
+package com.example.fitbot.util.processing;
+
+public class GesturePath {
+
+    public Vector3[] vectors;
+
+    public GesturePath(Vector3[] vectors)
+    {
+        this.vectors = vectors;
+    }
+
+    public Vector3 getError(Vector3 compare) {
+        Vector3 error = new Vector3(0, 0, 0);
+        double distance, previous = Double.MAX_VALUE;
+
+        // Calculate the minimum distance between the vectors.
+        // This is used to determine the error.
+        for (int i = 0; i < vectors.length; i++) {
+            distance = vectors[i].distance(compare);
+            if ( distance < previous ) {
+                error = vectors[i];
+                previous = distance;
+            }
+        }
+        return error;
+    }
+
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
index 8278192..4c4ea0b 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
@@ -61,4 +61,21 @@ public class MotionData {
         );
     }
 
+    /**
+     * Class for representing parsed motion data.
+     * This data is parsed in the `MotionProcessor` class.
+     */
+    public static class ParsedVector {
+        public Vector3 relativePosition;
+        public Vector3 relativeError;
+        public ParsedVector(Vector3 relativePosition, Vector3 relativeError) {
+            this.relativePosition = relativePosition;
+            this.relativeError = relativeError;
+        }
+
+        public String toString() {
+            return "position[" + relativePosition.toString() + "] error[" + relativeError.toString() + "]";
+        }
+    }
+
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index 9711e10..aac3d09 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -16,9 +16,10 @@ public class MotionProcessor {
     public static final String DELIMITER = ";";
 
     private final List<MotionData> motionData = new ArrayList<>();
+    private final List<MotionData.ParsedVector> parsedData = new ArrayList<>();
     private final Vector3[] relativePath = new Vector3[MAX_PATH_LENGTH];
     private Vector3 ZERO = new Vector3(0, 0, 0);
-    private int sampleRate = 1;
+    private double sampleRate = 1.0D; // samples/second
 
     public MotionProcessor() {}
 
@@ -31,7 +32,9 @@ public class MotionProcessor {
      */
     public void startListening() {
         // Create socket server
-        WebSocket socket = WebSocket.createServer(80);
+        WebSocket socket = WebSocket.createServer();
+
+        Log.i("MotionProcessor", "Listening for incoming connections.");
 
         // Check if the socket
         if (socket != null) {
@@ -50,9 +53,10 @@ public class MotionProcessor {
      * Function for parsing arbitrary packet data.
      * @param data The data to parse.
      */
-    private void parsePacket(@NotNull String data) {
+    public void parsePacket(@NotNull String data) {
         // If the message starts with 'data', it's a data packet.
         if ( data.startsWith("data")) {
+            Log.i("MotionProcessor", "Received data packet: " + data.split(" ")[1]);
             MotionData parsedData = MotionData.decode(data.split(" ")[1]);
             if (parsedData != null) {
                 this.motionData.add(parsedData);
@@ -67,7 +71,7 @@ public class MotionProcessor {
             );
             Log.i("MotionProcessor", "Device calibrated at " + ZERO.toString());
         } else if ( data.startsWith("sampleRate")) {
-            this.sampleRate = Integer.parseInt(data.split(" ")[1]);
+            this.sampleRate = Double.parseDouble(data.split(" ")[1]);
         }
     }
 
@@ -75,7 +79,7 @@ public class MotionProcessor {
      * Function for calculating the path of the device.
      * This only works when the ZERO point has been provided.
      */
-    private void calculatePath() {
+    public void calculatePath(GesturePath path) {
 
         int offset = Math.max(0, motionData.size() - MAX_PATH_LENGTH);
         Vector3 previous = ZERO.copy();
@@ -83,13 +87,22 @@ public class MotionProcessor {
         for (int i = offset; i < motionData.size(); i++) {
             MotionData data = motionData.get(i);
 
-            // Get relative vector from the ZERO point
             Vector3 relativePosition = data.acceleration
-                    .rotate(data.rotation.negate()) // Rotate acceleration vector with it's angle to get the acceleration relative to the vector of gravity
-                    .map((vector) ->  vector.) // Convert acceleration to relative spatial change
+                    .rotate(data.rotation.negate()) // Rotate acceleration vector with it's negated angle to get the acceleration relative to the vector of gravity
+                    .multiply(sampleRate * sampleRate / 6.0D) // Apply double integration to get the relative position
+                    .add(previous); // Add the previous position to get the new position
 
-            relativePath[i - offset]
+            Vector3 relativeError = path.getError(relativePosition);
+
+            previous = relativePosition;
+
+            // Get relative vector from the ZERO point
+            parsedData.add(new MotionData.ParsedVector(relativePosition, relativeError));
+        }
+    }
+    public void printData() {
+        for (MotionData.ParsedVector vector : parsedData) {
+            Log.i("MotionProcessor", vector.toString());
         }
     }
-
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
index a862af8..1a8b38b 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
@@ -26,6 +26,26 @@ public class Vector3 {
         return new Vector3(this.x, this.y, this.z);
     }
 
+    /**
+     * Get the magnitude of the vector.
+     *
+     * @return The magnitude of the vector.
+     */
+    public double magnitude() {
+        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
+    }
+
+    /**
+     * Normalize the vector.
+     *
+     * @return The normalized vector.
+     */
+    public Vector3 normalize() {
+        double mag = this.magnitude();
+        if (mag == 0) throw new IllegalArgumentException("Cannot normalize the zero vector.");
+        return new Vector3(this.x / mag, this.y / mag, this.z / mag);
+    }
+
     /**
      * Subtract the vector from another vector.
      *
@@ -155,6 +175,16 @@ public class Vector3 {
         );
     }
 
+    /**
+     * Get the distance between this vector and another vector.
+     *
+     * @param compare The other vector.
+     * @return The distance between the two vectors.
+     */
+    public double distance(Vector3 compare) {
+        return Math.sqrt(Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2));
+    }
+
     public Vector3 map(VectorMapFunction function) {
         return function.apply(this);
     }
@@ -162,4 +192,10 @@ public class Vector3 {
     public interface VectorMapFunction {
         Vector3 apply(Vector3 vector);
     }
+
+    @Override
+    public String toString()
+    {
+        return "Vector3(" + this.x + ", " + this.y + ", " + this.z + ")";
+    }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
index e48e1f0..0cc2957 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
@@ -24,14 +24,15 @@ public class WebSocket {
 
     /**
      * Function for creating a new WebSocket server given the provided port.
-     * @param port The port to configure the server to.
      * @return A WebSocket connection, or null if something went wrong.
      */
-    public static @Nullable WebSocket createServer(int port) {
+    public static @Nullable WebSocket createServer() {
         try {
-            WebSocket socket = new WebSocket();
-            socket.serverSocket = new ServerSocket(port);
-            return socket;
+            WebSocket webSocket = new WebSocket();
+            webSocket.serverSocket = new ServerSocket();
+            webSocket.serverSocket.bind(webSocket.serverSocket.getLocalSocketAddress());
+            Log.i("WebSocket -- Creating new WebSocket server", "Server created: " + webSocket.serverSocket.getLocalSocketAddress() + ", " + webSocket.serverSocket.getLocalPort());
+            return webSocket;
         } catch (IOException error)
         {
             String cause = error.getMessage() == null ? "Unknown reason" : error.getMessage();

From 3e0e71489ebf94445791c740640bce3b2cdc4738 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Thu, 9 May 2024 16:15:24 +0200
Subject: [PATCH 04/33] Added error calculations for GesturePath ::
 MotionProcessor.averageError, MotionProcessor.getErrors,
 GesturePath::getError

---
 code/src/Fitbot/app/build.gradle              |  2 +-
 .../java/com/example/fitbot/MainScreen.java   |  8 +-
 .../fitbot/util/processing/GesturePath.java   | 99 ++++++++++++++++---
 .../fitbot/util/processing/MotionData.java    | 18 ----
 .../util/processing/MotionProcessor.java      | 99 +++++++++++++++----
 .../fitbot/util/processing/Vector3.java       | 12 ++-
 6 files changed, 180 insertions(+), 58 deletions(-)

diff --git a/code/src/Fitbot/app/build.gradle b/code/src/Fitbot/app/build.gradle
index 5148a3d..38cf8be 100644
--- a/code/src/Fitbot/app/build.gradle
+++ b/code/src/Fitbot/app/build.gradle
@@ -7,7 +7,7 @@ android {
 
     defaultConfig {
         applicationId "com.example.fitbot"
-        minSdk 23
+        minSdk 29
         targetSdk 29
         versionCode 1
         versionName "1.0"
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
index 8b72054..bc3f9a2 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
@@ -36,14 +36,14 @@ public class MainScreen extends AppCompatActivity {
 
         motionProcessor.parsePacket("sampleRate 1");
 
-        Vector3[] path = new Vector3[100];
+        GesturePath.Builder builder = new GesturePath.Builder();
 
         for ( int i = 0; i < 100; i++ ) {
-            path[i] = new Vector3(0, Math.sin(i * Math.PI / 50), 0);
-            motionProcessor.parsePacket("data 0;" + Math.cos(i * Math.PI / 50) + ";0;0;0;0");
+            builder.addVector(new Vector3(0, Math.sin(i * Math.PI / 50), 0));
+            motionProcessor.parsePacket("data 0;" + (-Math.sin(i * Math.PI / 50)) + ";0;0;0;0");
         }
 
-        motionProcessor.calculatePath(new GesturePath(path));
+        motionProcessor.calculatePath();
         motionProcessor.printData();
 
         /*---Tool Bar---*/
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
index db15312..a68d35b 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
@@ -1,28 +1,101 @@
 package com.example.fitbot.util.processing;
 
+import java.util.ArrayList;
+import java.util.List;
+
 public class GesturePath {
 
     public Vector3[] vectors;
 
-    public GesturePath(Vector3[] vectors)
-    {
+    public GesturePath(Vector3[] vectors) {
         this.vectors = vectors;
     }
 
-    public Vector3 getError(Vector3 compare) {
-        Vector3 error = new Vector3(0, 0, 0);
-        double distance, previous = Double.MAX_VALUE;
+    /**
+     * Get the error between a line segment and the reference point.
+     *
+     * @param linePointA     The first point of the line.
+     * @param linePointB     The second point of the line.
+     * @param referencePoint The reference point to calculate the error of.
+     * @return The error offset between the line and the reference point.
+     */
+    public static double getError(Vector3 linePointA, Vector3 linePointB, Vector3 referencePoint) {
+        double lineDistance = linePointA.distanceSq(linePointB);
+        if (lineDistance == 0)
+            return referencePoint.distanceSq(linePointA);
 
-        // Calculate the minimum distance between the vectors.
-        // This is used to determine the error.
-        for (int i = 0; i < vectors.length; i++) {
-            distance = vectors[i].distance(compare);
-            if ( distance < previous ) {
-                error = vectors[i];
-                previous = distance;
+        double t = ((referencePoint.x - linePointA.x) * (linePointB.x - linePointA.x) +
+                    (referencePoint.y - linePointA.y) * (linePointB.y - linePointA.y) +
+                    (referencePoint.z - linePointA.z) * (linePointB.z - linePointA.z)) / lineDistance;
+
+        t = Math.max(0, Math.min(1, t));
+
+        return referencePoint.distanceSq(new Vector3(
+                linePointA.x + t * (linePointB.x - linePointA.x),
+                linePointA.y + t * (linePointB.y - linePointA.y),
+                linePointA.z + t * (linePointB.z - linePointA.z))
+        );
+    }
+
+    /**
+     * Get the error between an arbitrary path segment and the reference point.
+     *
+     * @param referencePoint The reference point to calculate the error of.
+     * @return The error offset between the path and the reference point.
+     */
+    public double getError(Vector3 referencePoint) {
+        double distance = Double.MAX_VALUE;
+        for (int i = 0; i < vectors.length - 1; i++) {
+            double error = getError(vectors[i], vectors[i + 1], referencePoint);
+            if (error < distance) {
+                distance = error;
             }
         }
-        return error;
+        return distance;
+    }
+
+    // Builder class for the GesturePath object.
+    public static class Builder {
+
+        // List of vectors to add to the GesturePath object.
+        private final List<Vector3> vectors;
+
+        /**
+         * Constructor for the Builder object.
+         *
+         * @param vectors The list of vectors to add.
+         */
+        public Builder(List<Vector3> vectors) {
+            this.vectors = vectors;
+        }
+
+        /**
+         * Default constructor for the Builder object.
+         */
+        public Builder() {
+            this.vectors = new ArrayList<>();
+        }
+
+        /**
+         * Adds a vector to the GesturePath object.
+         *
+         * @param vector The vector to add.
+         * @return The Builder object.
+         */
+        public Builder addVector(Vector3 vector) {
+            vectors.add(vector);
+            return this;
+        }
+
+        /**
+         * Builds the GesturePath object.
+         *
+         * @return The GesturePath object.
+         */
+        public GesturePath build() {
+            return new GesturePath(vectors.toArray(new Vector3[0]));
+        }
+
     }
 
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
index 4c4ea0b..edd037b 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
@@ -60,22 +60,4 @@ public class MotionData {
                 Float.parseFloat(parts[5])
         );
     }
-
-    /**
-     * Class for representing parsed motion data.
-     * This data is parsed in the `MotionProcessor` class.
-     */
-    public static class ParsedVector {
-        public Vector3 relativePosition;
-        public Vector3 relativeError;
-        public ParsedVector(Vector3 relativePosition, Vector3 relativeError) {
-            this.relativePosition = relativePosition;
-            this.relativeError = relativeError;
-        }
-
-        public String toString() {
-            return "position[" + relativePosition.toString() + "] error[" + relativeError.toString() + "]";
-        }
-    }
-
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index aac3d09..ecf5303 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -9,15 +9,14 @@ import org.jetbrains.annotations.NotNull;
 
 import java.util.ArrayList;
 import java.util.List;
+import java.util.stream.Collectors;
 
 public class MotionProcessor {
 
-    private static final int MAX_PATH_LENGTH = 100;
     public static final String DELIMITER = ";";
 
     private final List<MotionData> motionData = new ArrayList<>();
-    private final List<MotionData.ParsedVector> parsedData = new ArrayList<>();
-    private final Vector3[] relativePath = new Vector3[MAX_PATH_LENGTH];
+    private final List<Vector3> relativePath = new ArrayList<>(); // Relative path of the motion data
     private Vector3 ZERO = new Vector3(0, 0, 0);
     private double sampleRate = 1.0D; // samples/second
 
@@ -76,33 +75,91 @@ public class MotionProcessor {
     }
 
     /**
-     * Function for calculating the path of the device.
-     * This only works when the ZERO point has been provided.
+     * Function for adding motion data to the processor.
+     *
+     * @param data The motion data to add.
      */
-    public void calculatePath(GesturePath path) {
+    public void addMotionData(MotionData data) {
+        this.motionData.add(data);
+    }
+
+    /**
+     * Function for calculating the 'absolute' path of the motion data.
+     * This converts the relative acceleration and rotation vectors and converts
+     * them to a position that is relative to the ZERO point.
+     */
+    public void calculatePath() {
+
+        relativePath.clear(); // Clear previous path
 
-        int offset = Math.max(0, motionData.size() - MAX_PATH_LENGTH);
         Vector3 previous = ZERO.copy();
 
-        for (int i = offset; i < motionData.size(); i++) {
+        for (int i = 0; i < motionData.size(); i++) {
             MotionData data = motionData.get(i);
 
-            Vector3 relativePosition = data.acceleration
-                    .rotate(data.rotation.negate()) // Rotate acceleration vector with it's negated angle to get the acceleration relative to the vector of gravity
-                    .multiply(sampleRate * sampleRate / 6.0D) // Apply double integration to get the relative position
-                    .add(previous); // Add the previous position to get the new position
+            Vector3 relativeVector = getRelativeVector(data)
+                    .add(previous);
 
-            Vector3 relativeError = path.getError(relativePosition);
-
-            previous = relativePosition;
-
-            // Get relative vector from the ZERO point
-            parsedData.add(new MotionData.ParsedVector(relativePosition, relativeError));
+            relativePath.add(relativeVector);
+            previous = relativeVector;
         }
     }
+
+    /**
+     * Function for getting the relative vector of the motion data.
+     * This function will calculate the relative position of the motion data
+     * based on its acceleration and rotation vectors. This has to be done since
+     * the acceleration vector is relative to its own rotation vector.
+     *
+     * @param motionData The motion data to calculate the relative vector for.
+     * @return The relative vector of the motion data.
+     */
+    public Vector3 getRelativeVector(MotionData motionData) {
+
+        // Rotate the acceleration vector back by the rotation vector to make it
+        // perpendicular to the gravity vector, then apply double integration to get the relative position.
+        // s = 1/2 * a * t^2
+        return motionData.acceleration
+                .rotate(motionData.rotation.negate())
+                .multiply(sampleRate * sampleRate / 6.0D);
+    }
+
+    /**
+     * Function for getting the error offsets of the provided path and the
+     * received motion data.
+     *
+     * @param referencePath The reference path to compare the motion data to.
+     * @return A list of error offsets of the motion data compared to the reference path.
+     */
+    public List<Double> getErrors(GesturePath referencePath) {
+
+        // If the relative path is empty, calculate it.
+        if ( relativePath.isEmpty())
+            calculatePath();
+
+        // Return the errors of the relative path compared to the reference path.
+        return relativePath
+                .stream()
+                .map(referencePath::getError)
+                .collect(Collectors.toList());
+    }
+
+    /**
+     * Function for calculating the average error of the motion data
+     * compared to the reference path.
+     *
+     * @param referencePath The reference path to compare the motion data to.
+     * @return The average error of the motion data compared to the reference path.
+     */
+    public double averageError(GesturePath referencePath) {
+        return getErrors(referencePath)
+                .stream()
+                .mapToDouble(Double::doubleValue)
+                .average()
+                .orElse(0.0D);
+    }
+
     public void printData() {
-        for (MotionData.ParsedVector vector : parsedData) {
-            Log.i("MotionProcessor", vector.toString());
-        }
+
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
index 1a8b38b..0f86df5 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
@@ -175,6 +175,16 @@ public class Vector3 {
         );
     }
 
+    /**
+     * Get the squared distance between this vector and another vector.
+     *
+     * @param compare The other vector.
+     * @return The squared distance between the two vectors.
+     */
+    public double distanceSq(Vector3 compare) {
+        return Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2);
+    }
+
     /**
      * Get the distance between this vector and another vector.
      *
@@ -182,7 +192,7 @@ public class Vector3 {
      * @return The distance between the two vectors.
      */
     public double distance(Vector3 compare) {
-        return Math.sqrt(Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2));
+        return Math.sqrt(distanceSq(compare));
     }
 
     public Vector3 map(VectorMapFunction function) {

From f422e0a948010785b9dc10e47710166d18c45b35 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Thu, 9 May 2024 17:12:59 +0200
Subject: [PATCH 05/33] Updated error function calculation to be more efficient

---
 .../java/com/example/fitbot/MainScreen.java   | 18 +++++++--
 .../fitbot/util/processing/GesturePath.java   | 38 ++++++++++++++++---
 .../fitbot/util/processing/MotionData.java    | 14 +++----
 .../util/processing/MotionProcessor.java      | 26 +++++++++++--
 .../example/fitbot/util/server/WebSocket.java |  8 ++--
 .../server/WebSocketConnectionHandler.java    | 10 +----
 .../fitbot/WebSocketMessageParsingTest.java   | 11 +++---
 7 files changed, 88 insertions(+), 37 deletions(-)

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
index bc3f9a2..a57c387 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
@@ -8,11 +8,16 @@ import android.support.v4.widget.DrawerLayout;
 import android.support.v7.app.ActionBarDrawerToggle;
 import android.support.v7.app.AppCompatActivity;
 import android.support.v7.widget.Toolbar;
+import android.util.Log;
 
 import com.example.fitbot.util.processing.GesturePath;
+import com.example.fitbot.util.processing.MotionData;
 import com.example.fitbot.util.processing.MotionProcessor;
 import com.example.fitbot.util.processing.Vector3;
 
+import java.util.ArrayList;
+import java.util.List;
+
 public class MainScreen extends AppCompatActivity {
 
     //Variables
@@ -38,13 +43,20 @@ public class MainScreen extends AppCompatActivity {
 
         GesturePath.Builder builder = new GesturePath.Builder();
 
+        List<Vector3> relativePath = new ArrayList<>();
+
         for ( int i = 0; i < 100; i++ ) {
             builder.addVector(new Vector3(0, Math.sin(i * Math.PI / 50), 0));
-            motionProcessor.parsePacket("data 0;" + (-Math.sin(i * Math.PI / 50)) + ";0;0;0;0");
+            relativePath.add(new Vector3(0, Math.sin(i * Math.PI / 50) + 1, 0));
         }
 
-        motionProcessor.calculatePath();
-        motionProcessor.printData();
+        motionProcessor.setRelativePath(relativePath);
+
+        Log.i("MotionProcessor", motionProcessor.getRelativeVector(
+                new MotionData(0, Math.sqrt(2), 0, 0, 0, 0))
+                .toString());
+
+        motionProcessor.logStatistics(builder.build());
 
         /*---Tool Bar---*/
 //      setSupportActionBar(toolbar);
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
index a68d35b..ed761f8 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
@@ -44,14 +44,42 @@ public class GesturePath {
      * @return The error offset between the path and the reference point.
      */
     public double getError(Vector3 referencePoint) {
+        // If there are no vectors, return 0.
+        if ( vectors.length == 0)
+            return 0;
+
+        // If there's only one vector, return the distance to that vector.
+        if ( vectors.length == 1)
+            return vectors[0].distance(referencePoint);
+
         double distance = Double.MAX_VALUE;
-        for (int i = 0; i < vectors.length - 1; i++) {
-            double error = getError(vectors[i], vectors[i + 1], referencePoint);
-            if (error < distance) {
-                distance = error;
+        double currentDistSq, nextDistSq;
+        int closestVectorIdx = 0;
+
+        // Acquire two closest points to the reference point.
+        for ( int i = 0; i < vectors.length - 1; i++) {
+            currentDistSq = vectors[i].distanceSq(referencePoint);
+            nextDistSq = vectors[i + 1].distanceSq(referencePoint);
+
+            if ( currentDistSq < distance) {
+                distance = currentDistSq;
+                closestVectorIdx = i;
+            } else if ( nextDistSq < distance) {
+                distance = nextDistSq;
+                closestVectorIdx = i + 1;
+                i++; // Skip the next iteration; this point is already closer.
             }
         }
-        return distance;
+
+        // Calculate the error between the two closest points.
+        Vector3 pointB = (closestVectorIdx == vectors.length - 1) ?
+                vectors[closestVectorIdx - 1] : // If the closest point is the last point, use the 1 to last one
+                (closestVectorIdx > 0 && // Find the closer point between the surrounding points.
+                        (vectors[closestVectorIdx - 1].distanceSq(referencePoint) < vectors[closestVectorIdx + 1].distanceSq(referencePoint))) ?
+                        vectors[closestVectorIdx - 1] :
+                        vectors[closestVectorIdx + 1];
+
+        return getError(vectors[closestVectorIdx], pointB, referencePoint);
     }
 
     // Builder class for the GesturePath object.
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
index edd037b..2c10030 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
@@ -20,7 +20,7 @@ public class MotionData {
      * @param rotationY     The rotation in the Y axis in degrees.
      * @param rotationZ     The rotation in the Z axis in degrees.
      */
-    public MotionData(float accelerationX, float accelerationY, float accelerationZ, float rotationX, float rotationY, float rotationZ) {
+    public MotionData(double accelerationX, double accelerationY, double accelerationZ, double rotationX, double rotationY, double rotationZ) {
         this.acceleration = new Vector3(accelerationX, accelerationY, accelerationZ);
         this.rotation = new Vector3(rotationX, rotationY, rotationZ);
     }
@@ -52,12 +52,12 @@ public class MotionData {
             return null;
 
         return new MotionData(
-                Float.parseFloat(parts[0]),
-                Float.parseFloat(parts[1]),
-                Float.parseFloat(parts[2]),
-                Float.parseFloat(parts[3]),
-                Float.parseFloat(parts[4]),
-                Float.parseFloat(parts[5])
+                Double.parseDouble(parts[0]),
+                Double.parseDouble(parts[1]),
+                Double.parseDouble(parts[2]),
+                Double.parseDouble(parts[3]),
+                Double.parseDouble(parts[4]),
+                Double.parseDouble(parts[5])
         );
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index ecf5303..4fac2c0 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -83,12 +83,22 @@ public class MotionProcessor {
         this.motionData.add(data);
     }
 
+    /**
+     * Function for updating the relative path.
+     *
+     * @param relativePath The new relative path.
+     */
+    public void setRelativePath(List<Vector3> relativePath) {
+        this.relativePath.clear();
+        this.relativePath.addAll(relativePath);
+    }
+
     /**
      * Function for calculating the 'absolute' path of the motion data.
      * This converts the relative acceleration and rotation vectors and converts
      * them to a position that is relative to the ZERO point.
      */
-    public void calculatePath() {
+    public void calculateRelativePath() {
 
         relativePath.clear(); // Clear previous path
 
@@ -121,7 +131,8 @@ public class MotionProcessor {
         // s = 1/2 * a * t^2
         return motionData.acceleration
                 .rotate(motionData.rotation.negate())
-                .multiply(sampleRate * sampleRate / 6.0D);
+                .divide(2)
+                .multiply(sampleRate * sampleRate);
     }
 
     /**
@@ -135,7 +146,7 @@ public class MotionProcessor {
 
         // If the relative path is empty, calculate it.
         if ( relativePath.isEmpty())
-            calculatePath();
+            calculateRelativePath();
 
         // Return the errors of the relative path compared to the reference path.
         return relativePath
@@ -159,7 +170,14 @@ public class MotionProcessor {
                 .orElse(0.0D);
     }
 
-    public void printData() {
+    public void logStatistics(GesturePath referencePath) {
+        Log.i("MotionProcessor", "Average path error: " + averageError(referencePath));
+        Log.i("MotionProcessor", "Path length: " + relativePath.size());
+        Log.i("MotionProcessor", "Sample rate: " + sampleRate);
+        Log.i("MotionProcessor", "Calibration point: " + ZERO.toString());
+        Log.i("MotionProcessor", "Path comparison:\n" +
+                relativePath.stream().map(Vector3::toString).collect(Collectors.joining(", \t")) +
+                "\n" + getErrors(referencePath).stream().map(Object::toString).collect(Collectors.joining(", \t")));
 
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
index 0cc2957..837da04 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
@@ -84,7 +84,7 @@ public class WebSocket {
     public static class Message {
 
         // Enumerable representing message type (opcode).
-        public enum Type {
+        public enum Opcode {
 
             CONTINUING((byte) 0x0),
             TEXT((byte) 0x1),
@@ -96,7 +96,7 @@ public class WebSocket {
             RES5((byte) 0xB), RES6((byte) 0xC), RES7((byte) 0xD), RES8((byte) 0xE), RES9((byte) 0xF);
             
             byte opcode;
-            Type(final byte opcode) {
+            Opcode(final byte opcode) {
                 this.opcode = opcode;
             }
 
@@ -105,8 +105,8 @@ public class WebSocket {
              * @param opcode The opcode to decode.
              * @return The message type.
              */
-            public Type decode(byte opcode) {
-                return Type.values()[opcode & 0xF];
+            public static Opcode decode(byte opcode) {
+                return Opcode.values()[opcode & 0xF];
             }
             // Returns the opcode of this message type.
             public byte getOpcode() { return this.opcode; }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
index 4018ce4..f1748ce 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
@@ -1,7 +1,5 @@
 package com.example.fitbot.util.server;
 
-import android.os.Build;
-import android.support.annotation.RequiresApi;
 import android.util.Log;
 
 import java.io.IOException;
@@ -31,7 +29,6 @@ public class WebSocketConnectionHandler implements Runnable {
         this.theSocket = webSocket;
     }
 
-    @RequiresApi(api = Build.VERSION_CODES.O)
     @Override
     public void run() {
         // Listen for new connections until the socket
@@ -65,7 +62,6 @@ public class WebSocketConnectionHandler implements Runnable {
      * @param streamOut The OutputStream of the client socket connection.
      * @return Whether or not the connection was successfully upgraded.
      */
-    @RequiresApi(api = Build.VERSION_CODES.O)
     private boolean upgradeConnection(InputStream streamIn, OutputStream streamOut) {
         Scanner scanner = new Scanner(streamIn, "UTF-8");
         String data = scanner.useDelimiter("\\r\\n\\r\\n").next();
@@ -105,7 +101,7 @@ public class WebSocketConnectionHandler implements Runnable {
      * @param streamIn The message stream to decode.
      */
     private void applyMessageDecoder(InputStream streamIn) {
-
+        // TODO: Implement
     }
 
     /**
@@ -119,13 +115,11 @@ public class WebSocketConnectionHandler implements Runnable {
         if (bytes.length <= 2 || (bytes[0] & 0b1110) != 0)
             throw new IllegalArgumentException("Attempted to decode corrupted WebSocket frame data");
 
-        byte opcode        = (byte) (bytes[0] & 0b11110000); // Opcode (4 bits)
+        WebSocket.Message.Opcode opcode = WebSocket.Message.Opcode.decode((byte) (bytes[0] & 0b11110000));
         byte payloadLength = (byte) (bytes[1] & 0b01111111); // Payload size (7 bits)
         boolean fin        = (bytes[0] & 0b1) != 0; // Whether this is the whole message
         boolean masked     = (bytes[1] & 0b10000000) != 0; // Whether the 9th bit is masked
 
-        System.out.printf("Fin: %b, Opcode: %d, masked: %b\n", fin, opcode, masked);
-
         long extendedPayloadLength = 0;
         int byteOffset = 2;
 
diff --git a/code/src/Fitbot/app/src/test/java/com/example/fitbot/WebSocketMessageParsingTest.java b/code/src/Fitbot/app/src/test/java/com/example/fitbot/WebSocketMessageParsingTest.java
index 3dd4107..87f6beb 100644
--- a/code/src/Fitbot/app/src/test/java/com/example/fitbot/WebSocketMessageParsingTest.java
+++ b/code/src/Fitbot/app/src/test/java/com/example/fitbot/WebSocketMessageParsingTest.java
@@ -1,6 +1,8 @@
 package com.example.fitbot;
 
 
+import static org.junit.Assert.assertEquals;
+
 import com.example.fitbot.util.server.WebSocketConnectionHandler;
 
 import org.junit.Test;
@@ -11,6 +13,8 @@ import org.junit.Test;
  */
 public class WebSocketMessageParsingTest {
 
+
+
     @Test
     public void parseWebSocketMessage() {
 
@@ -27,11 +31,6 @@ public class WebSocketMessageParsingTest {
         } catch (Exception e) {
             System.err.println("Error occurred whilst attempting to parse input" + e.getMessage());
         }
-        System.out.println("Parsed output: '" + decoded + "'");
-        if (decoded.equals(reference)) {
-            System.out.println("Test passed");
-        } else {
-            System.out.println("Test failed");
-        }
+        assertEquals(reference, decoded);
     }
 }

From 8724bf61c407dc034198d3cb538050cbbbb62431 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Fri, 10 May 2024 12:49:24 +0200
Subject: [PATCH 06/33] Updated motion processing and WebSocket code.

---
 .../java/com/example/fitbot/MainScreen.java   |  27 ++--
 .../fitbot/util/processing/GesturePath.java   |  31 +----
 .../util/processing/MotionProcessor.java      | 127 +++++++++++++-----
 .../fitbot/util/processing/Vector3.java       |  47 +++++++
 .../example/fitbot/util/server/WebSocket.java |  13 ++
 .../server/WebSocketConnectionHandler.java    |  39 +++++-
 6 files changed, 209 insertions(+), 75 deletions(-)

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
index a57c387..958aeb8 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
@@ -17,6 +17,7 @@ import com.example.fitbot.util.processing.Vector3;
 
 import java.util.ArrayList;
 import java.util.List;
+import java.util.function.Function;
 
 public class MainScreen extends AppCompatActivity {
 
@@ -37,25 +38,25 @@ public class MainScreen extends AppCompatActivity {
         toolbar = findViewById(R.id.toolbar);
 
         MotionProcessor motionProcessor = new MotionProcessor();
-        motionProcessor.startListening();
-
-        motionProcessor.parsePacket("sampleRate 1");
-
         GesturePath.Builder builder = new GesturePath.Builder();
 
+        motionProcessor.setMotionDataEventHandler((data -> {
+            Log.i("MotionProcessor", "Current position: " + data.toString());
+        }));
+
         List<Vector3> relativePath = new ArrayList<>();
 
-        for ( int i = 0; i < 100; i++ ) {
-            builder.addVector(new Vector3(0, Math.sin(i * Math.PI / 50), 0));
-            relativePath.add(new Vector3(0, Math.sin(i * Math.PI / 50) + 1, 0));
+        double y, dy;
+
+        Function<Double, Double> F = (x) -> 4.0 + 0.125D * x * x;
+        Function<Double, Double> d2F = (x) -> 0.25D;
+
+        for ( double x = -50; x < 10; x += 0.125D ) {
+
+            builder.addVector(new Vector3(0, F.apply(x), 0));
+            motionProcessor.addMotionData(new MotionData(new Vector3(0, d2F.apply(x), 0), Vector3.zero()));
         }
 
-        motionProcessor.setRelativePath(relativePath);
-
-        Log.i("MotionProcessor", motionProcessor.getRelativeVector(
-                new MotionData(0, Math.sqrt(2), 0, 0, 0, 0))
-                .toString());
-
         motionProcessor.logStatistics(builder.build());
 
         /*---Tool Bar---*/
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
index ed761f8..451de9d 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
@@ -5,38 +5,13 @@ import java.util.List;
 
 public class GesturePath {
 
-    public Vector3[] vectors;
+    // The vectors that make up the path.
+    private final Vector3[] vectors;
 
     public GesturePath(Vector3[] vectors) {
         this.vectors = vectors;
     }
 
-    /**
-     * Get the error between a line segment and the reference point.
-     *
-     * @param linePointA     The first point of the line.
-     * @param linePointB     The second point of the line.
-     * @param referencePoint The reference point to calculate the error of.
-     * @return The error offset between the line and the reference point.
-     */
-    public static double getError(Vector3 linePointA, Vector3 linePointB, Vector3 referencePoint) {
-        double lineDistance = linePointA.distanceSq(linePointB);
-        if (lineDistance == 0)
-            return referencePoint.distanceSq(linePointA);
-
-        double t = ((referencePoint.x - linePointA.x) * (linePointB.x - linePointA.x) +
-                    (referencePoint.y - linePointA.y) * (linePointB.y - linePointA.y) +
-                    (referencePoint.z - linePointA.z) * (linePointB.z - linePointA.z)) / lineDistance;
-
-        t = Math.max(0, Math.min(1, t));
-
-        return referencePoint.distanceSq(new Vector3(
-                linePointA.x + t * (linePointB.x - linePointA.x),
-                linePointA.y + t * (linePointB.y - linePointA.y),
-                linePointA.z + t * (linePointB.z - linePointA.z))
-        );
-    }
-
     /**
      * Get the error between an arbitrary path segment and the reference point.
      *
@@ -79,7 +54,7 @@ public class GesturePath {
                         vectors[closestVectorIdx - 1] :
                         vectors[closestVectorIdx + 1];
 
-        return getError(vectors[closestVectorIdx], pointB, referencePoint);
+        return referencePoint.distanceToLine(vectors[closestVectorIdx], pointB);
     }
 
     // Builder class for the GesturePath object.
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index 4fac2c0..8f6d049 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -9,16 +9,20 @@ import org.jetbrains.annotations.NotNull;
 
 import java.util.ArrayList;
 import java.util.List;
+import java.util.function.Consumer;
 import java.util.stream.Collectors;
 
 public class MotionProcessor {
 
     public static final String DELIMITER = ";";
 
-    private final List<MotionData> motionData = new ArrayList<>();
+    private final List<MotionData> preprocessedData = new ArrayList<>(); // Preprocessed motion data
     private final List<Vector3> relativePath = new ArrayList<>(); // Relative path of the motion data
     private Vector3 ZERO = new Vector3(0, 0, 0);
     private double sampleRate = 1.0D; // samples/second
+    private Consumer<Vector3> motionDataConsumer = (data) -> {};
+    private GesturePath path;
+    private WebSocket socket;
 
     public MotionProcessor() {}
 
@@ -31,7 +35,7 @@ public class MotionProcessor {
      */
     public void startListening() {
         // Create socket server
-        WebSocket socket = WebSocket.createServer();
+        this.socket = WebSocket.createServer();
 
         Log.i("MotionProcessor", "Listening for incoming connections.");
 
@@ -48,6 +52,17 @@ public class MotionProcessor {
         }
     }
 
+    /**
+     * Function for stopping the listening process
+     * of the motion sensor. This function will stop
+     * the WebSocket server.
+     */
+    public void stopListening() {
+        if (socket != null) {
+            socket.stop();
+        }
+    }
+
     /**
      * Function for parsing arbitrary packet data.
      * @param data The data to parse.
@@ -58,10 +73,10 @@ public class MotionProcessor {
             Log.i("MotionProcessor", "Received data packet: " + data.split(" ")[1]);
             MotionData parsedData = MotionData.decode(data.split(" ")[1]);
             if (parsedData != null) {
-                this.motionData.add(parsedData);
+                addMotionData(parsedData);
             }
             // Otherwise check if it starts with 'calibrate', this is the ZERO point.
-        } else if ( data.startsWith("calibrate")) { // message to calibrate device
+        } else if ( data.startsWith("zero")) { // message to calibrate device
             String[] vectorData = data.split(" ")[1].split(DELIMITER);
             ZERO = new Vector3(
                     Float.parseFloat(vectorData[0]),
@@ -74,13 +89,26 @@ public class MotionProcessor {
         }
     }
 
+    /**
+     * Function for setting the gesture path of the processor.
+     *
+     * @param path The path to set.
+     */
+    public void setGesturePath(GesturePath path) {
+        this.path = path;
+    }
+
     /**
      * Function for adding motion data to the processor.
      *
      * @param data The motion data to add.
      */
     public void addMotionData(MotionData data) {
-        this.motionData.add(data);
+        preprocessedData.add(data);
+        Vector3 previous = this.relativePath.isEmpty() ? ZERO : this.relativePath.get(this.relativePath.size() - 1);
+        Vector3 relativeVector = getRelativeVector(data).add(previous);
+        this.relativePath.add(relativeVector);
+        motionDataConsumer.accept(relativeVector);
     }
 
     /**
@@ -94,25 +122,12 @@ public class MotionProcessor {
     }
 
     /**
-     * Function for calculating the 'absolute' path of the motion data.
-     * This converts the relative acceleration and rotation vectors and converts
-     * them to a position that is relative to the ZERO point.
+     * Function for setting the motion data receiver.
+     * @param consumer The consumer to set.
      */
-    public void calculateRelativePath() {
-
-        relativePath.clear(); // Clear previous path
-
-        Vector3 previous = ZERO.copy();
-
-        for (int i = 0; i < motionData.size(); i++) {
-            MotionData data = motionData.get(i);
-
-            Vector3 relativeVector = getRelativeVector(data)
-                    .add(previous);
-
-            relativePath.add(relativeVector);
-            previous = relativeVector;
-        }
+    public void setMotionDataEventHandler(Consumer<Vector3> consumer) {
+        if ( consumer != null)
+            this.motionDataConsumer = consumer;
     }
 
     /**
@@ -144,10 +159,6 @@ public class MotionProcessor {
      */
     public List<Double> getErrors(GesturePath referencePath) {
 
-        // If the relative path is empty, calculate it.
-        if ( relativePath.isEmpty())
-            calculateRelativePath();
-
         // Return the errors of the relative path compared to the reference path.
         return relativePath
                 .stream()
@@ -155,6 +166,44 @@ public class MotionProcessor {
                 .collect(Collectors.toList());
     }
 
+    /**
+     * Function for getting the error offsets of the motion data compared to the
+     * reference path.
+     *
+     * @return A list of error offsets of the motion data compared to the reference path.
+     *        If no path is set, an empty list will be returned.
+     */
+    public List<Double> getErrors() {
+        if ( path == null)
+            return new ArrayList<>();
+        return getErrors(path);
+    }
+
+    /**
+     * Function for getting the error of the motion data compared to the reference path.
+     *
+     * @param path The path to compare the motion data to.
+     * @param referencePoint The reference point to compare the motion data to.
+     * @return The error of the motion data compared to the reference path.
+     */
+    public double getError(GesturePath path, Vector3 referencePoint)
+    {
+        return path.getError(referencePoint);
+    }
+
+    /**
+     * Function for getting the error of the provided vector and the set path.
+     * If no path is set, the error will be 0.
+     *
+     * @param referencePoint The reference point to compare the path data to.
+     * @return The error of the motion data compared to the reference path.
+     */
+    public double getError(Vector3 referencePoint) {
+        if ( path == null)
+            return 0;
+        return path.getError(referencePoint);
+    }
+
     /**
      * Function for calculating the average error of the motion data
      * compared to the reference path.
@@ -162,7 +211,7 @@ public class MotionProcessor {
      * @param referencePath The reference path to compare the motion data to.
      * @return The average error of the motion data compared to the reference path.
      */
-    public double averageError(GesturePath referencePath) {
+    public double getAverageError(GesturePath referencePath) {
         return getErrors(referencePath)
                 .stream()
                 .mapToDouble(Double::doubleValue)
@@ -170,14 +219,28 @@ public class MotionProcessor {
                 .orElse(0.0D);
     }
 
+    /**
+     * Function for calculating the average error of the motion data
+     * compared to the reference path.
+     *
+     * @return The average error of the motion data compared to the reference path.
+     */
+    public double getAverageError() {
+        if ( path == null)
+            return 0;
+        return getAverageError(path);
+    }
+
+    /**
+     * Function for logging the statistics of the motion data.
+     *
+     * @param referencePath The reference path to compare the motion data to.
+     */
     public void logStatistics(GesturePath referencePath) {
-        Log.i("MotionProcessor", "Average path error: " + averageError(referencePath));
+        Log.i("MotionProcessor", "Average path error: " + getAverageError(referencePath));
         Log.i("MotionProcessor", "Path length: " + relativePath.size());
         Log.i("MotionProcessor", "Sample rate: " + sampleRate);
         Log.i("MotionProcessor", "Calibration point: " + ZERO.toString());
-        Log.i("MotionProcessor", "Path comparison:\n" +
-                relativePath.stream().map(Vector3::toString).collect(Collectors.joining(", \t")) +
-                "\n" + getErrors(referencePath).stream().map(Object::toString).collect(Collectors.joining(", \t")));
 
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
index 0f86df5..47c251c 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
@@ -1,5 +1,8 @@
 package com.example.fitbot.util.processing;
 
+import java.util.Arrays;
+import java.util.Comparator;
+
 public class Vector3 {
 
     public double x, y, z;
@@ -25,6 +28,15 @@ public class Vector3 {
     public Vector3 copy() {
         return new Vector3(this.x, this.y, this.z);
     }
+    
+    /**
+     * Get the zero vector.
+     * 
+     * @return The zero vector.
+     */
+    public static Vector3 zero() {
+        return new Vector3(0, 0, 0);
+    }
 
     /**
      * Get the magnitude of the vector.
@@ -195,6 +207,41 @@ public class Vector3 {
         return Math.sqrt(distanceSq(compare));
     }
 
+    /**
+     * Calculate the distance to a line defined by two points.
+     *
+     * @param lineStart The starting point of the line.
+     * @param lineEnd The ending point of the line.
+     * @return The distance to the line.
+     */
+    public double distanceToLine(Vector3 lineStart, Vector3 lineEnd) {
+        double lineDistance = lineStart.distanceSq(lineEnd);
+        if (lineDistance == 0)
+            return this.distanceSq(lineStart);
+
+        double t = ((this.x - lineStart.x) * (lineEnd.x - lineStart.x) +
+                (this.y - lineStart.y) * (lineEnd.y - lineStart.y) +
+                (this.z - lineStart.z) * (lineEnd.z - lineStart.z)) / lineDistance;
+
+        t = Math.max(0, Math.min(1, t));
+
+        return this.distanceSq(new Vector3(
+                lineStart.x + t * (lineEnd.x - lineStart.x),
+                lineStart.y + t * (lineEnd.y - lineStart.y),
+                lineStart.z + t * (lineEnd.z - lineStart.z))
+        );
+    }
+
+    /**
+     * Retrieve the closest vector to this one given a list of vectors.
+     *
+     * @param vectors The list of vectors to compare.
+     * @return The closest vector.
+     */
+    public Vector3 closest(Vector3 ... vectors) {
+        return Arrays.stream(vectors).min(Comparator.comparingDouble(this::distanceSq)).orElse(null);
+    }
+
     public Vector3 map(VectorMapFunction function) {
         return function.apply(this);
     }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
index 837da04..60fbf6b 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java
@@ -49,6 +49,19 @@ public class WebSocket {
         this.connectionHandler.listen();
     }
 
+    /**
+     * Method for stopping the WebSocket server.
+     */
+    public void stop() {
+        try {
+            this.serverSocket.close();
+            this.connectionHandler.stop();
+        } catch (IOException error) {
+            String cause = error.getMessage() == null ? "Unknown reason" : error.getMessage();
+            Log.e("WebSocket -- Closing server connection", cause);
+        }
+    }
+
     /**
      * Method for setting the event handler for this WebSocket server.
      * @param handler The handler to use. This handler will parse all events
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
index f1748ce..7dc0329 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java
@@ -9,7 +9,10 @@ import java.net.Socket;
 import java.nio.charset.StandardCharsets;
 import java.security.MessageDigest;
 import java.security.NoSuchAlgorithmException;
+import java.util.ArrayList;
 import java.util.Base64;
+import java.util.Collections;
+import java.util.List;
 import java.util.Scanner;
 import java.util.regex.Matcher;
 import java.util.regex.Pattern;
@@ -17,7 +20,9 @@ import java.util.regex.Pattern;
 public class WebSocketConnectionHandler implements Runnable {
 
     private final WebSocket theSocket;
+    private List<Socket> clients = Collections.synchronizedList(new ArrayList<>());
     private Thread thread;
+    private boolean forceClose = false;
 
     /**
      * Constructor for WebSocketConnectionHandler.
@@ -31,13 +36,13 @@ public class WebSocketConnectionHandler implements Runnable {
 
     @Override
     public void run() {
-        // Listen for new connections until the socket
-        // closes.
+        // Listen for new connections until the socket closes.
         while (theSocket.isConnected()) {
             try {
                 // Find a new connection
                 Socket newSocket = this.theSocket.getSocket().accept();
                 this.theSocket.eventHandler.onConnected(newSocket);
+                clients.add(newSocket);
 
                 InputStream streamIn = newSocket.getInputStream();
                 OutputStream streamOut = newSocket.getOutputStream();
@@ -179,4 +184,34 @@ public class WebSocketConnectionHandler implements Runnable {
         this.thread.start();
         Log.i("WebSocketConnectionHandler", "Listening started.");
     }
+
+    /**
+     * Method for stopping the connection handler.
+     */
+    public void stop() {
+        // Close the socket connection if not already closed
+        if (!this.theSocket.getSocket().isClosed()) {
+            try {
+                this.theSocket.getSocket().close();
+            } catch (IOException error) {
+                Log.e("WebSocketConnectionHandler", "Failed to close the socket connection: " + error.getMessage());
+            }
+        }
+
+        // Interrupt the thread
+        this.thread.interrupt();
+
+        // Close all connections
+        this.clients.forEach(client -> {
+            try {
+                client.close();
+            } catch (IOException error) {
+                Log.e("WebSocketConnectionHandler", "Failed to close client: " + error.getMessage());
+            }
+        });
+        this.clients.clear();
+
+
+        Log.i("WebSocketConnectionHandler", "Listening stopped.");
+    }
 }

From 7bc97e93c23885cf029de200c7610efa7b4adba8 Mon Sep 17 00:00:00 2001
From: SebasKoedam <Sebas@koedam.info>
Date: Tue, 14 May 2024 14:34:02 +0200
Subject: [PATCH 07/33] optimized file structure

---
 .../Fitbot/app/src/main/AndroidManifest.xml   |  14 +-
 .../java/com/example/fitbot/BicepVideo.java   |  59 ------
 .../com/example/fitbot/Completion_Screen.java |  13 --
 .../java/com/example/fitbot/MainActivity.java |  44 -----
 .../java/com/example/fitbot/PowerScreen.java  |  43 -----
 .../ui/activities/CompletionActivity.java     |   4 +
 .../activities/MainActivity.java}             |   5 +-
 .../SportPreviewActivity.java                 |   2 +-
 .../main/res/layout/activity_bicepvideo.xml   |  58 ------
 .../res/layout/activity_completion_screen.xml |   8 -
 .../app/src/main/res/layout/activity_main.xml |   2 +-
 .../main/res/layout/activity_power_screen.xml |  84 --------
 .../main/res/layout/activity_sport_item.xml   |   6 -
 .../main/res/layout/activity_sport_menu.xml   |  16 --
 .../diagrams/assets/.$appDiagram.png.dtmp     | 181 ------------------
 .../diagrams/assets/appDiagram.png            | Bin 116945 -> 116946 bytes
 16 files changed, 10 insertions(+), 529 deletions(-)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/BicepVideo.java
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/Completion_Screen.java
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/PowerScreen.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/CompletionActivity.java
 rename code/src/Fitbot/app/src/main/java/com/example/fitbot/{MainScreen.java => ui/activities/MainActivity.java} (92%)
 rename code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/{ => activities}/SportPreviewActivity.java (91%)
 delete mode 100644 code/src/Fitbot/app/src/main/res/layout/activity_bicepvideo.xml
 delete mode 100644 code/src/Fitbot/app/src/main/res/layout/activity_completion_screen.xml
 delete mode 100644 code/src/Fitbot/app/src/main/res/layout/activity_power_screen.xml
 delete mode 100644 code/src/Fitbot/app/src/main/res/layout/activity_sport_item.xml
 delete mode 100644 code/src/Fitbot/app/src/main/res/layout/activity_sport_menu.xml
 delete mode 100644 docs/documentation/diagrams/assets/.$appDiagram.png.dtmp

diff --git a/code/src/Fitbot/app/src/main/AndroidManifest.xml b/code/src/Fitbot/app/src/main/AndroidManifest.xml
index bd9a6b6..2c2784b 100644
--- a/code/src/Fitbot/app/src/main/AndroidManifest.xml
+++ b/code/src/Fitbot/app/src/main/AndroidManifest.xml
@@ -11,24 +11,12 @@
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
         android:theme="@style/Theme.Fitbot" >
-        <activity
-            android:name=".Completion_Screen"
-            android:exported="false" />
         <activity
             android:name=".ui.SportMenuActivity"
             android:exported="true">
         </activity>
         <activity
-            android:name=".BicepVideo"
-            android:exported="false" />
-        <activity
-            android:name=".PowerScreen"
-            android:exported="false" />
-        <activity
-            android:name=".MainActivity"
-            android:exported="true" />
-        <activity
-            android:name=".MainScreen"
+            android:name=".ui.activities.MainActivity"
             android:exported="true" >
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/BicepVideo.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/BicepVideo.java
deleted file mode 100644
index 3016b0a..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/BicepVideo.java
+++ /dev/null
@@ -1,59 +0,0 @@
-package com.example.fitbot;
-
-import android.content.Intent;
-import android.net.Uri;
-import android.os.Bundle;
-import android.support.v7.app.AppCompatActivity;
-import android.widget.Button;
-import android.widget.MediaController;
-import android.widget.VideoView;
-
-import com.aldebaran.qi.sdk.QiContext;
-import com.aldebaran.qi.sdk.builder.AnimateBuilder;
-import com.aldebaran.qi.sdk.builder.AnimationBuilder;
-import com.aldebaran.qi.sdk.object.actuation.Animate;
-import com.aldebaran.qi.sdk.object.actuation.Animation;
-
-public class BicepVideo extends AppCompatActivity {
-
-//    private QiContext qiContext;
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_bicepvideo);
-        setupButtons();
-    }
-
-    public void Video(QiContext qiContext) {
-        VideoView videoView = findViewById(R.id.videoView);
-        videoView.setVideoURI(Uri.parse("android.resource://" + getPackageName() + "/" + R.raw.bicepvideo));
-
-        MediaController mediaController = new MediaController(this);
-        videoView.setMediaController(mediaController);
-        videoView.setOnCompletionListener(mp -> videoView.start());
-        videoView.start();
-
-        Animation animation = AnimationBuilder.with(qiContext)
-                .withResources(R.raw.bicepcurl)
-                .build();
-
-        Animate animate = AnimateBuilder.with(qiContext)
-                .withAnimation(animation)
-                .build();
-
-
-        animate.async().run();
-
-    }
-    private void setupButtons() {
-        Button backButton = findViewById(R.id.buttonback);
-        backButton.setOnClickListener(v -> finish());
-
-        Button completeButton = findViewById(R.id.buttoncomplete);
-        completeButton.setOnClickListener(v -> {
-            Intent intent = new Intent(BicepVideo.this, Completion_Screen.class);
-            startActivity(intent);
-        });
-    }
-}
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/Completion_Screen.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/Completion_Screen.java
deleted file mode 100644
index 55dd036..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/Completion_Screen.java
+++ /dev/null
@@ -1,13 +0,0 @@
-package com.example.fitbot;
-
-import android.os.Bundle;
-import android.support.v7.app.AppCompatActivity;
-
-public class Completion_Screen extends AppCompatActivity {
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_completion_screen);
-    }
-}
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java
deleted file mode 100644
index 14e8445..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java
+++ /dev/null
@@ -1,44 +0,0 @@
-package com.example.fitbot;
-
-import android.os.Bundle;
-
-import com.aldebaran.qi.sdk.QiContext;
-import com.aldebaran.qi.sdk.QiSDK;
-import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
-import com.aldebaran.qi.sdk.design.activity.RobotActivity;
-
-public class MainActivity extends RobotActivity implements RobotLifecycleCallbacks {
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        // Register the RobotLifecycleCallbacks to this Activity.
-
-        QiSDK.register(this, this);
-
-    }
-
-    @Override
-    protected void onDestroy() {
-        // Unregister the RobotLifecycleCallbacks for this Activity.
-        QiSDK.unregister(this, this);
-        super.onDestroy();
-    }
-
-    @Override
-    public void onRobotFocusGained(QiContext qiContext) {
-        // TODO:
-        //  Add start screen.
-    }
-
-
-    @Override
-    public void onRobotFocusLost() {
-        // Nothing here.
-    }
-
-    @Override
-    public void onRobotFocusRefused(String reason) {
-        // The robot focus is refused.
-    }
-}
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/PowerScreen.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/PowerScreen.java
deleted file mode 100644
index ff1f891..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/PowerScreen.java
+++ /dev/null
@@ -1,43 +0,0 @@
-package com.example.fitbot;
-
-import android.content.Intent;
-import android.os.Bundle;
-import android.support.v7.app.AppCompatActivity;
-import android.widget.ImageButton;
-
-public class PowerScreen extends AppCompatActivity {
-    ImageButton openBicepVideo;
-    ImageButton openSquatVideo;
-    ImageButton openTricepVideo;
-    ImageButton goToHome;
-
-    @Override
-    protected void onCreate(Bundle savedInstanceState) {
-        super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_power_screen);
-
-        openBicepVideo = findViewById(R.id.open_BicepVideo);
-        openSquatVideo = findViewById(R.id.open_SquatVideo);
-        openTricepVideo = findViewById(R.id.open_TricepVideo);
-        goToHome = findViewById(R.id.GoToHome);
-
-        openBicepVideo.setOnClickListener(v -> {
-            Intent intent = new Intent(PowerScreen.this, BicepVideo.class);
-            startActivity(intent);
-        });
-//        openSquatVideo.setOnClickListener(v -> {
-//            Intent intent = new Intent(PowerScreen.this, SquatVideo.class);
-//            startActivity(intent);
-//        });
-//
-//        openTricepVideo.setOnClickListener(v -> {
-//            Intent intent = new Intent(PowerScreen.this, TricepVideo.class);
-//            startActivity(intent);
-//        });
-
-        goToHome.setOnClickListener(v -> {
-            Intent intent = new Intent(PowerScreen.this, MainActivity.class);
-            startActivity(intent);
-        });
-    }
-}
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/CompletionActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/CompletionActivity.java
new file mode 100644
index 0000000..8cc269b
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/CompletionActivity.java
@@ -0,0 +1,4 @@
+package com.example.fitbot.ui.activities;
+
+public class CompletionActivity {
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
similarity index 92%
rename from code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
rename to code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
index f8ddf0a..dc62c2e 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
@@ -1,4 +1,4 @@
-package com.example.fitbot;
+package com.example.fitbot.ui.activities;
 
 import android.annotation.SuppressLint;
 import android.os.Bundle;
@@ -9,11 +9,12 @@ import android.support.v7.app.ActionBarDrawerToggle;
 import android.support.v7.app.AppCompatActivity;
 import android.support.v7.widget.Toolbar;
 
+import com.example.fitbot.R;
 import com.example.fitbot.util.processing.GesturePath;
 import com.example.fitbot.util.processing.MotionProcessor;
 import com.example.fitbot.util.processing.Vector3;
 
-public class MainScreen extends AppCompatActivity {
+public class MainActivity extends AppCompatActivity {
 
     //Variables
     DrawerLayout drawerLayout;
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/SportPreviewActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/SportPreviewActivity.java
similarity index 91%
rename from code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/SportPreviewActivity.java
rename to code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/SportPreviewActivity.java
index ce952bc..02e289f 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/SportPreviewActivity.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/SportPreviewActivity.java
@@ -1,4 +1,4 @@
-package com.example.fitbot.ui;
+package com.example.fitbot.ui.activities;
 
 import com.aldebaran.qi.sdk.QiContext;
 import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_bicepvideo.xml b/code/src/Fitbot/app/src/main/res/layout/activity_bicepvideo.xml
deleted file mode 100644
index b866143..0000000
--- a/code/src/Fitbot/app/src/main/res/layout/activity_bicepvideo.xml
+++ /dev/null
@@ -1,58 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    tools:context=".BicepVideo">
-
-    <VideoView
-        android:id="@+id/videoView"
-        android:layout_width="1142dp"
-        android:layout_height="515dp"
-        android:layout_marginTop="64dp"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintVertical_bias="0.0" />
-
-    <Button
-        android:id="@+id/buttonback"
-        android:layout_width="88dp"
-        android:layout_height="wrap_content"
-        android:layout_marginStart="16dp"
-        android:layout_marginTop="10dp"
-        android:text="back"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
-    <Button
-        android:id="@+id/buttoncomplete"
-        android:layout_width="wrap_content"
-        android:layout_height="wrap_content"
-        android:layout_marginTop="10dp"
-        android:layout_marginEnd="16dp"
-        android:layout_marginBottom="6dp"
-        android:text="complete"
-        app:layout_constraintBottom_toTopOf="@+id/videoView"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintTop_toTopOf="parent"
-        app:layout_constraintVertical_bias="0.093" />
-
-    <TextView
-        android:id="@+id/textView"
-        android:layout_width="1074dp"
-        android:layout_height="197dp"
-        android:layout_marginStart="122dp"
-        android:layout_marginTop="7dp"
-        android:layout_marginEnd="122dp"
-        android:layout_marginBottom="16dp"
-        android:text="Uitleg text"
-        android:textSize="32sp"
-        app:layout_constraintBottom_toBottomOf="parent"
-        app:layout_constraintEnd_toEndOf="parent"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toBottomOf="@+id/videoView" />
-
-</android.support.constraint.ConstraintLayout>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_completion_screen.xml b/code/src/Fitbot/app/src/main/res/layout/activity_completion_screen.xml
deleted file mode 100644
index 71fa72b..0000000
--- a/code/src/Fitbot/app/src/main/res/layout/activity_completion_screen.xml
+++ /dev/null
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    tools:context=".Completion_Screen">
-
-  </android.support.constraint.ConstraintLayout>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_main.xml b/code/src/Fitbot/app/src/main/res/layout/activity_main.xml
index 2baee25..901a002 100644
--- a/code/src/Fitbot/app/src/main/res/layout/activity_main.xml
+++ b/code/src/Fitbot/app/src/main/res/layout/activity_main.xml
@@ -6,7 +6,7 @@
     android:layout_height="match_parent"
     android:background="#232323"
     android:fitsSystemWindows="true"
-    tools:context=".MainActivity"
+    tools:context=".ui.activities.MainActivity"
     tools:openDrawer="start">
 
     <LinearLayout
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_power_screen.xml b/code/src/Fitbot/app/src/main/res/layout/activity_power_screen.xml
deleted file mode 100644
index bbfe7df..0000000
--- a/code/src/Fitbot/app/src/main/res/layout/activity_power_screen.xml
+++ /dev/null
@@ -1,84 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent"
-    tools:context=".PowerScreen">
-
-<!--  <Button-->
-<!--      android:id="@+id/open_BicepVideo"-->
-<!--      android:layout_width="215dp"-->
-<!--      android:layout_height="64dp"-->
-<!--      android:layout_marginStart="108dp"-->
-<!--      android:layout_marginTop="341dp"-->
-<!--      android:layout_marginEnd="108dp"-->
-<!--      android:layout_marginBottom="342dp"-->
-<!--      android:text="Bicep Oefening"-->
-<!--      app:layout_constraintBottom_toBottomOf="parent"-->
-<!--      app:layout_constraintEnd_toEndOf="parent"-->
-<!--      app:layout_constraintStart_toStartOf="parent"-->
-<!--      app:layout_constraintTop_toTopOf="parent"-->
-<!--      app:layout_constraintVertical_bias="1.0" />-->
-
-
-  <ImageButton
-      android:id="@+id/open_BicepVideo"
-      android:layout_width="330dp"
-      android:layout_height="300dp"
-      android:layout_marginStart="120dp"
-      android:layout_marginTop="60dp"
-      android:layout_marginEnd="190dp"
-      android:layout_marginBottom="40dp"
-      app:layout_constraintBottom_toTopOf="@+id/open_SquatVideo"
-      app:layout_constraintEnd_toStartOf="@+id/open_TricepVideo"
-      app:layout_constraintStart_toStartOf="parent"
-      app:layout_constraintTop_toTopOf="parent"
-      app:srcCompat="@drawable/noun_bicep_499185"
-      android:contentDescription="Open bicep exercise video" />
-
-  <ImageButton
-      android:id="@+id/open_SquatVideo"
-      android:layout_width="330dp"
-      android:layout_height="300dp"
-      android:layout_marginStart="120dp"
-      android:layout_marginTop="40dp"
-      android:layout_marginEnd="190dp"
-      android:layout_marginBottom="60dp"
-      app:layout_constraintBottom_toBottomOf="parent"
-      app:layout_constraintEnd_toStartOf="@+id/GoToHome"
-      app:layout_constraintStart_toStartOf="parent"
-      app:layout_constraintTop_toBottomOf="@+id/open_BicepVideo"
-      app:srcCompat="@drawable/squatlogo"
-      android:contentDescription="Open squad exercise video" />
-
-  <ImageButton
-      android:id="@+id/open_TricepVideo"
-      android:layout_width="330dp"
-      android:layout_height="300dp"
-      android:layout_marginStart="190dp"
-      android:layout_marginTop="60dp"
-      android:layout_marginEnd="120dp"
-      android:layout_marginBottom="40dp"
-      app:layout_constraintBottom_toTopOf="@+id/GoToHome"
-      app:layout_constraintEnd_toEndOf="parent"
-      app:layout_constraintStart_toEndOf="@+id/open_BicepVideo"
-      app:layout_constraintTop_toTopOf="parent"
-      app:srcCompat="@drawable/triceplogo"
-      android:contentDescription="Open tricep exercise video" />
-
-  <ImageButton
-      android:id="@+id/GoToHome"
-      android:layout_width="330dp"
-      android:layout_height="300dp"
-      android:layout_marginStart="190dp"
-      android:layout_marginTop="40dp"
-      android:layout_marginEnd="120dp"
-      android:layout_marginBottom="60dp"
-      app:layout_constraintBottom_toBottomOf="parent"
-      app:layout_constraintEnd_toEndOf="parent"
-      app:layout_constraintStart_toEndOf="@+id/open_SquatVideo"
-      app:layout_constraintTop_toBottomOf="@+id/open_TricepVideo"
-      app:srcCompat="@drawable/house_3"
-      android:contentDescription="Go to Home Screen" />
-</android.support.constraint.ConstraintLayout>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_sport_item.xml b/code/src/Fitbot/app/src/main/res/layout/activity_sport_item.xml
deleted file mode 100644
index ae843ab..0000000
--- a/code/src/Fitbot/app/src/main/res/layout/activity_sport_item.xml
+++ /dev/null
@@ -1,6 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    android:layout_width="match_parent"
-    android:layout_height="match_parent">
-
-</android.support.constraint.ConstraintLayout>
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_sport_menu.xml b/code/src/Fitbot/app/src/main/res/layout/activity_sport_menu.xml
deleted file mode 100644
index 7a2e72b..0000000
--- a/code/src/Fitbot/app/src/main/res/layout/activity_sport_menu.xml
+++ /dev/null
@@ -1,16 +0,0 @@
-<?xml version="1.0" encoding="utf-8"?>
-<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
-    xmlns:app="http://schemas.android.com/apk/res-auto"
-    xmlns:tools="http://schemas.android.com/tools"
-    android:layout_width="wrap_content"
-    android:layout_height="wrap_content"
-    tools:context=".ui.SportMenuActivity">
-
-    <com.example.fitbot.ui.SportMenuItem
-        android:id="@+id/sportMenuItem1"
-        android:layout_width="300dp"
-        android:layout_height="300dp"
-        app:layout_constraintStart_toStartOf="parent"
-        app:layout_constraintTop_toTopOf="parent" />
-
-</android.support.constraint.ConstraintLayout>
\ No newline at end of file
diff --git a/docs/documentation/diagrams/assets/.$appDiagram.png.dtmp b/docs/documentation/diagrams/assets/.$appDiagram.png.dtmp
deleted file mode 100644
index cc2914b..0000000
--- a/docs/documentation/diagrams/assets/.$appDiagram.png.dtmp
+++ /dev/null
@@ -1,181 +0,0 @@
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From 1c39bf9153ca0b0b4e8f692f3e9b1efe16425c1c Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Tue, 14 May 2024 16:01:41 +0200
Subject: [PATCH 08/33] cleanup + serial communication for setting zeropoint
 and put wifi in its own class

---
 .../Movement-sensor-code/Connectivity.cpp     | 23 +++++++++
 .../Movement-sensor-code/Connectivity.h       | 30 ++++++++++++
 .../Movement-sensor-code.ino                  | 49 +++++++------------
 .../Movement-sensor-code/SensorManager.cpp    |  1 +
 .../arduino/Movement-sensor-code/headerFIle.h | 27 ++++------
 5 files changed, 83 insertions(+), 47 deletions(-)
 create mode 100644 code/arduino/Movement-sensor-code/Connectivity.cpp
 create mode 100644 code/arduino/Movement-sensor-code/Connectivity.h

diff --git a/code/arduino/Movement-sensor-code/Connectivity.cpp b/code/arduino/Movement-sensor-code/Connectivity.cpp
new file mode 100644
index 0000000..ea3515b
--- /dev/null
+++ b/code/arduino/Movement-sensor-code/Connectivity.cpp
@@ -0,0 +1,23 @@
+#include "Connectivity.h"
+
+void Connectivity::connectWiFi(char* ssid, char* pass){
+  WiFi.mode(WIFI_STA);
+  WiFi.begin(ssid, pass);
+  while (WiFi.status() != WL_CONNECTED) {
+    Serial.println("connecting to wifi");
+    delay(1000);
+  }
+  Serial.println(WiFi.localIP());
+}
+
+void Connectivity::websocketSetup(){
+	//ws server address, port and URL
+	webSocket.begin("192.168.137.1", 8001, "");
+	// try every 500 again if connection has failed
+	webSocket.setReconnectInterval(500);
+}
+
+void Connectivity::sendData(float roll, float pitch, float yaw){
+  String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
+  webSocket.sendTXT(message);
+}
\ No newline at end of file
diff --git a/code/arduino/Movement-sensor-code/Connectivity.h b/code/arduino/Movement-sensor-code/Connectivity.h
new file mode 100644
index 0000000..624eccd
--- /dev/null
+++ b/code/arduino/Movement-sensor-code/Connectivity.h
@@ -0,0 +1,30 @@
+#ifndef Connectivity_h
+#define Connectivity_h
+
+#include "Arduino.h"
+#include <WebSocketsClient.h>
+#include <ArduinoWiFiServer.h>
+#include <ESP8266WiFi.h>
+#include <ESP8266WiFiGeneric.h>
+#include <ESP8266WiFiGratuitous.h>
+#include <ESP8266WiFiMulti.h>
+#include <ESP8266WiFiSTA.h>
+#include <ESP8266WiFiScan.h>
+#include <ESP8266WiFiType.h>
+#include <WiFiClient.h>
+#include <WiFiServer.h>
+#include <WiFiServerSecure.h>
+#include <WiFiUdp.h>
+
+class Connectivity {
+public:
+  void connectWiFi(char* ssid, char* pass);
+  void websocketSetup();
+  void sendData(float roll, float pitch, float yaw);
+
+private:
+  ESP8266WiFiMulti wifi;
+  WebSocketsClient webSocket;
+};
+
+#endif
\ No newline at end of file
diff --git a/code/arduino/Movement-sensor-code/Movement-sensor-code.ino b/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
index f889f39..28eb441 100644
--- a/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
+++ b/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
@@ -1,22 +1,26 @@
 #include "headerFile.h"
 
-SensorManager sensorManager;
-ESP8266WiFiMulti wifi;
-WebSocketsClient webSocket;
-#define USE_SERIAL Serial
+SensorManager::Rotation offset;
 
 void setup() {
   Serial.begin(9600);
   Serial.println("startup");
   delay(5000);
-  connectWiFi();
+  
+  connectivity.connectWiFi(ssid, pass);
   sensorManager.sensorSetup();
-  websocketSetup();
+  connectivity.websocketSetup();
 }
 
 void loop() {
   SensorManager::Rotation rotation = sensorManager.readLoop();
 
+  // Subtract offset
+  rotation.i -= offset.i;
+  rotation.j -= offset.j;
+  rotation.k -= offset.k;
+  rotation.w -= offset.w;
+
   // Convert quaternion to Euler angles in radians
   float roll = atan2(2.0f * (rotation.w * rotation.i + rotation.j * rotation.k), 1.0f - 2.0f * (rotation.i * rotation.i + rotation.j * rotation.j));
   float pitch = asin(2.0f * (rotation.w * rotation.j - rotation.k * rotation.i));
@@ -32,34 +36,19 @@ void loop() {
   Serial.print(pitch);
   Serial.print(" ");
   Serial.print(yaw);
-  sendData(roll, pitch, yaw);
+  connectivity.sendData(roll, pitch, yaw);
 
   Serial.println();
   webSocket.loop();
-}
 
-
-void connectWiFi(){
-
-  WiFi.mode(WIFI_STA);
-  wifi.addAP(ssid, pass);
-  WiFi.begin();
-  while (WiFi.status() != WL_CONNECTED) {
-    Serial.println("connecting to wifi");
-    delay(1000);
+  if (Serial.available()) {
+    String command = Serial.readStringUntil('\n');
+    command.trim(); // remove any trailing whitespace
+    if (command == "setZeroPoint") {
+      setZeroPoint();
+    }
   }
-  Serial.println(WiFi.localIP());
-
 }
-
-void websocketSetup(){
-	//ws server address, port and URL
-	webSocket.begin("192.168.178.118", 8001, "");
-	// try every 500 again if connection has failed
-	webSocket.setReconnectInterval(500);
+void setZeroPoint() {
+  offset = sensorManager.readLoop();
 }
-
-void sendData(float roll, float pitch, float yaw){
-  String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
-  webSocket.sendTXT(message);
-}
\ No newline at end of file
diff --git a/code/arduino/Movement-sensor-code/SensorManager.cpp b/code/arduino/Movement-sensor-code/SensorManager.cpp
index 4ca3d62..063f0da 100644
--- a/code/arduino/Movement-sensor-code/SensorManager.cpp
+++ b/code/arduino/Movement-sensor-code/SensorManager.cpp
@@ -1,6 +1,7 @@
 #include "SensorManager.h"
 #include <Wire.h>
 
+
 SensorManager::SensorManager() {}
 
 void SensorManager::sensorSetup() {
diff --git a/code/arduino/Movement-sensor-code/headerFIle.h b/code/arduino/Movement-sensor-code/headerFIle.h
index cd3f6ae..b7b8220 100644
--- a/code/arduino/Movement-sensor-code/headerFIle.h
+++ b/code/arduino/Movement-sensor-code/headerFIle.h
@@ -1,20 +1,13 @@
-#include <WebSocketsClient.h>
+//classes
+#include "SensorManager.h"
+#include "Connectivity.h"
 
-#include <ArduinoWiFiServer.h>
-#include <ESP8266WiFi.h>
-#include <ESP8266WiFiGeneric.h>
-#include <ESP8266WiFiGratuitous.h>
-#include <ESP8266WiFiMulti.h>
-#include <ESP8266WiFiSTA.h>
-#include <ESP8266WiFiScan.h>
-#include <ESP8266WiFiType.h>
-#include <WiFiClient.h>
-#include <WiFiServer.h>
-#include <WiFiServerSecure.h>
-#include <WiFiUdp.h>
+//define
+SensorManager sensorManager;
+Connectivity connectivity;
+WebSocketsClient webSocket;
+#define USE_SERIAL Serial
 
-#define ssid "ObsidianAmstelveen"
-#define pass "drijversstraatmaastricht"
 
-//custom classes
-#include "SensorManager.h"
\ No newline at end of file
+#define ssid "1235678i"
+#define pass "12345678"

From 44138ee91686ab2bcc9fff1249c0b7d695f1b7ce Mon Sep 17 00:00:00 2001
From: Niels <grasn@hva.nl>
Date: Tue, 14 May 2024 19:39:49 +0200
Subject: [PATCH 09/33] inleidign betoog

---
 .../Onderzoeks verslag/betoog opdrachten.md   | 26 ++++++++++++++++---
 1 file changed, 22 insertions(+), 4 deletions(-)

diff --git a/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md b/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md
index d23fe15..782d4d8 100644
--- a/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md	
+++ b/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md	
@@ -27,14 +27,18 @@ Welke ethische dilemma's kunnen er vormen bij het gebruik van robotica in de oud
 **I. VRAAGSTELLING 2 - De deelvragen van mijn onderzoek zijn:**
 
 
+# Hoofdvraag
+
+Welke ethische dilemma's kunnen er vormen bij het gebruik van robotica in de ouderenzorg.
+
 # Deelvragen
 
 
-Wat is de impact van robots op de emotionele en sociale welzijn van ouderen?
+Wat zijn de mogelijke effecten van robots op het emotionele en sociale welzijn van ouderen?
 
-Kan het gebruik van robots in de ouderezorg ervoor zorgen dat de zorg minder menselijk wordt?
+ Kan het gebruik van robots in de ouderenzorg leiden tot een gevoel van dehumanisering of verminderde menselijke interactie voor ouderen?
 
-Hoe worden de veiligheid en persoonlijke gegevens van ouderen Beschermd bij het gebruik van robots?
+Welke risico's zijn er op het gebied van veiligheid en privacy voor ouderen bij het gebruik van robots in de zorg?
 
 # Bronnen
 Design issues for assistive robotics for the elderly
@@ -59,4 +63,18 @@ Socially facilitative robots for older adults to alleviate social isolation: A p
 https://www.frontiersin.org/journals/psychology/articles/10.3389/fpsyg.2022.904019/full
 
 Ethical Design and Use of Robotic Care of the Elderly
-https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8936033/
\ No newline at end of file
+https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8936033/
+
+# inleiding 
+
+De vergrijzing van de samenleving zet druk op de ouderenzorg. Er is een tekort aan zorgverleners, terwijl de vraag naar zorg toeneemt. Robotica wordt gezien als een mogelijke oplossing om deze knelpunten te verlichten. Robots kunnen taken overnemen van zorgverleners, zoals medicatie toedienen, lichaamsverzorging en gezelschap bieden. Maar de inzet van robots in de ouderenzorg roept ook ethische dilemma's op. Ik ga dit onderzoeken welke etische dillemas er kunnen ontstaan in de zorg. Om dit doel te bereiken, zullen we de volgende deelvragen beantwoorden:
+
+- Wat zijn de mogelijke effecten van robots op het emotionele en sociale welzijn van ouderen?
+
+- Kan het gebruik van robots in de ouderenzorg leiden tot een gevoel van dehumanisering of verminderde menselijke interactie voor ouderen?
+
+- Welke risico's zijn er op het gebied van veiligheid en privacy voor ouderen bij het gebruik van robots in de zorg?
+
+Deze vragen behandelen allerei verschillende aspecten van robotica in de ouderzorg. na het beantwoorden van de deelvragen kunnen wij een concusie trekken en kijken naar welke dillemas er kunnen ontstaan. 
+
+## Wat zijn de mogelijke effecten van robots op het emotionele en sociale welzijn van ouderen?

From 6608f361aa128b208175c2c07d156fcbf5391bff Mon Sep 17 00:00:00 2001
From: Niels <grasn@hva.nl>
Date: Tue, 14 May 2024 22:21:17 +0200
Subject: [PATCH 10/33] Onderzoeks opdracht

---
 .../Onderzoeks verslag/betoog opdrachten.md   | 21 ++++++++++++++-----
 1 file changed, 16 insertions(+), 5 deletions(-)

diff --git a/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md b/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md
index 782d4d8..d5771c1 100644
--- a/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md	
+++ b/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md	
@@ -67,14 +67,25 @@ https://www.ncbi.nlm.nih.gov/pmc/articles/PMC8936033/
 
 # inleiding 
 
-De vergrijzing van de samenleving zet druk op de ouderenzorg. Er is een tekort aan zorgverleners, terwijl de vraag naar zorg toeneemt. Robotica wordt gezien als een mogelijke oplossing om deze knelpunten te verlichten. Robots kunnen taken overnemen van zorgverleners, zoals medicatie toedienen, lichaamsverzorging en gezelschap bieden. Maar de inzet van robots in de ouderenzorg roept ook ethische dilemma's op. Ik ga dit onderzoeken welke etische dillemas er kunnen ontstaan in de zorg. Om dit doel te bereiken, zullen we de volgende deelvragen beantwoorden:
+De vergrijzing van de samenleving zet druk op de ouderenzorg. Er is een tekort aan zorgverleners, terwijl de vraag naar zorg toeneemt. Robotica wordt gezien als een mogelijke oplossing om dit probleem optelossen. Robots kunnen taken overnemen van verpleegsters, zoals medicatie toedienen, lichaamsverzorging en gezelschap bieden. Maar de inzet van robots in de ouderenzorg roept ook ethische dilemma's op. Ik ga onderzoeken welke etische dillemas er kunnen ontstaan in de zorg. Om dit doel te bereiken, zullen we de volgende deelvragen beantwoorden:
 
-- Wat zijn de mogelijke effecten van robots op het emotionele en sociale welzijn van ouderen?
+- Wat zijn de mogelijke effecten van het gebruik van robots op het emotionele en sociale welzijn van ouderen?
 
-- Kan het gebruik van robots in de ouderenzorg leiden tot een gevoel van dehumanisering of verminderde menselijke interactie voor ouderen?
+- Leidt robotisering in de ouderenzorg tot onpersoonlijke en mechanische zorg?
 
-- Welke risico's zijn er op het gebied van veiligheid en privacy voor ouderen bij het gebruik van robots in de zorg?
+- Welke risico's zijn er over de veiligheid en privacy voor ouderen bij het gebruik van robots in de zorg?
 
 Deze vragen behandelen allerei verschillende aspecten van robotica in de ouderzorg. na het beantwoorden van de deelvragen kunnen wij een concusie trekken en kijken naar welke dillemas er kunnen ontstaan. 
 
-## Wat zijn de mogelijke effecten van robots op het emotionele en sociale welzijn van ouderen?
+## Wat zijn de mogelijke effecten van het gebruik van robots op het emotionele en sociale welzijn van ouderen?
+
+Het sociale welzijn van ouderen is een belangrijk onderwerp. Ouderen kunnen zich vaak enzaam of afgesloten voelen van de samenleving. Dit is een groot probleem binnen in de ouderzorg omdat je niet wilt dat ouderen zich nog eenzamer gaan voelen nadat zij worden verzorgd door een robot. Daarom wil ik weten wat de effecten zijn van het gebruik van robotica in de ouderzorg, Zodat ik daaruit kan bepalen wat voor een dillema het met zich mee zou brengen.
+
+Er zijn al veel onderzoeken geweest naar dit onderwerp. Onderzoek wijst uit dat robots zowel positieve als negatieve effecten kunnen hebben. Een postief effect ervan is dat ouderen zich minder eenzaam voelen. 17 onderzoeken met 4 verschillende type robots wijsen erop dat Uit de meeste onderzoeken bleek dat gezelschapsrobots een positieve invloed hadden op (socio)psychologische (bijv. humeur, eenzaamheid, sociale connecties en communicatie) en fysiologische (bijv. stressverlaging) variabelen. De methodologische kwaliteit van de studies was over het algemeen laag.[1] Dit laat zien dat het helpt om eenzaamheid bij ouderen tegentegaan. Ze kunnen ook worden gebruikt om ouderen te helpen in contact te blijven met vrienden en familie. Dit is handig iets omdat ouderen dan dichter bij hun familie zijn wat voor de meeste ouderen heel belangrijk is om eenzaamheid tegen te gaan. Bovendien kunnen robots worden gebruikt om ouderen te motiveren om actief en betrokken te blijven bij hun leven. Fitness is niet alleen iets om fit te blijven maar brengt ook socialen aspecten met zich mee. Ik ben nu persoonlijk bezig met een project waarmee wij ouderen willen stimuleren meer te bewegen zodat zij ook wat vaker naar buiten kunnen en potentieel ook samen workouts kunnen doen.
+
+Over het algemeen zijn de mogelijke effecten van robots op het emotionele en sociale welzijn van ouderen complex. Er zijn zowel mogelijke Voordelen en nadelen, en de impact van robots zal waarschijnlijk van persoon tot persoon verschillen. Het is belangrijk om deze factoren zorgvuldig af te wegen bij het beslissen of robots wel of niet in de ouderzorg te implementeren.
+
+## Kan het gebruik van robots in de ouderenzorg leiden tot een gevoel van dehumanisering of verminderde menselijke interactie voor ouderen?
+
+
+(Socially Assistive Robots in Elderly Care: A Systematic Review into Effects and Effectiveness https://www.sciencedirect.com/science/article/abs/pii/S1525861010003476)[1] 

From 11489682eb38adf427947eb2d8a8629f2a80ed94 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 01:10:51 +0200
Subject: [PATCH 11/33] Updated path math, started with 3d path to 2d screen
 space projection

---
 code/src/Fitbot/app/build.gradle              |   1 +
 .../Fitbot/app/src/main/AndroidManifest.xml   |   4 -
 .../java/com/example/fitbot/MainScreen.java   |   4 -
 .../PersonalMotionPreviewElement.java         | 132 +++++++++++--
 .../example/fitbot/util/path/GesturePath.java | 124 +++++++++++++
 .../example/fitbot/util/path/PathSegment.java | 175 ++++++++++++++++++
 .../Vector3.java => path/Point3D.java}        |  70 +++----
 .../fitbot/util/processing/GesturePath.java   | 104 -----------
 .../fitbot/util/processing/MotionData.java    |  24 +--
 .../util/processing/MotionProcessor.java      |  35 ++--
 10 files changed, 488 insertions(+), 185 deletions(-)
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
 rename code/src/Fitbot/app/src/main/java/com/example/fitbot/util/{processing/Vector3.java => path/Point3D.java} (78%)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java

diff --git a/code/src/Fitbot/app/build.gradle b/code/src/Fitbot/app/build.gradle
index 38cf8be..f3a2fea 100644
--- a/code/src/Fitbot/app/build.gradle
+++ b/code/src/Fitbot/app/build.gradle
@@ -34,6 +34,7 @@ dependencies {
     implementation 'com.android.support.constraint:constraint-layout:2.0.4'
     implementation 'com.android.support:cardview-v7:28.0.0'
     implementation 'com.android.support:design:28.0.0'
+    implementation 'org.joml:joml:1.10.5'
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'com.android.support.test:runner:1.0.2'
     androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.2'
diff --git a/code/src/Fitbot/app/src/main/AndroidManifest.xml b/code/src/Fitbot/app/src/main/AndroidManifest.xml
index bd9a6b6..1705cd8 100644
--- a/code/src/Fitbot/app/src/main/AndroidManifest.xml
+++ b/code/src/Fitbot/app/src/main/AndroidManifest.xml
@@ -14,10 +14,6 @@
         <activity
             android:name=".Completion_Screen"
             android:exported="false" />
-        <activity
-            android:name=".ui.SportMenuActivity"
-            android:exported="true">
-        </activity>
         <activity
             android:name=".BicepVideo"
             android:exported="false" />
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
index f8ddf0a..7315545 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainScreen.java
@@ -9,10 +9,6 @@ import android.support.v7.app.ActionBarDrawerToggle;
 import android.support.v7.app.AppCompatActivity;
 import android.support.v7.widget.Toolbar;
 
-import com.example.fitbot.util.processing.GesturePath;
-import com.example.fitbot.util.processing.MotionProcessor;
-import com.example.fitbot.util.processing.Vector3;
-
 public class MainScreen extends AppCompatActivity {
 
     //Variables
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
index b5161d8..d70c88c 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
@@ -5,39 +5,147 @@ import android.graphics.Canvas;
 import android.graphics.Path;
 import android.view.View;
 
-import com.example.fitbot.util.processing.GesturePath;
+import com.example.fitbot.util.path.GesturePath;
+import com.example.fitbot.util.path.PathSegment;
+import com.example.fitbot.util.path.Point3D;
 import com.example.fitbot.util.processing.MotionData;
 import com.example.fitbot.util.processing.MotionProcessor;
-import com.example.fitbot.util.processing.Vector3;
+
+import org.joml.Matrix4f;
+import org.joml.Vector2f;
+import org.joml.Vector3f;
+import org.joml.Vector4f;
 
 public class PersonalMotionPreviewElement extends View {
 
     private GesturePath path;
     private double pathTime = 0.0D; // The timestamp at which the path is currently at.
     private MotionProcessor motionProcessor;
-    private Path targetPath, personalPath;
+    private Path referencePath, performingPath;
 
     /**
-     * Method that calculates the path that will be drawn on the
-     * canvas. This method will be called every time new motion data is received.
+     * Constants for the preview path projection.
      */
-    private void calculateDrawingPath(Vector3 transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
-
-    }
-
+    private final float FOV = 70.0f;     // The field of view of the preview path
+    private final float Z_NEAR = 0.1f;   // The near clipping plane
+    private final float Z_FAR = 1000.0f; // The far clipping plane
+    private Vector3f cameraPosition = new Vector3f(0.0f, 0.0f, 0.0f); // The position of the camera
+    private Vector2f screenDimensions = new Vector2f(); // Width and height dimensions of the screen
+    private Vector2f rotation = new Vector2f(); // Rotation vector (yaw, pitch)
 
+    /**
+     * Constructor for the PersonalMotionPreviewElement class.
+     *
+     * @param context The context in which this element is created.
+     * @param path    The gesture path that will be drawn on the canvas.
+     */
     public PersonalMotionPreviewElement(Context context, GesturePath path) {
         super(context);
         this.path = path;
         this.motionProcessor = new MotionProcessor();
         this.motionProcessor.startListening();
-        this.motionProcessor.setMotionDataEventHandler(this::calculateDrawingPath);
-        this.targetPath = new Path();
-        this.personalPath = new Path();
+        this.motionProcessor.setMotionDataEventHandler((processed, preprocessed, sampleIndex, sampleRate) -> {
+            // TODO: Implement the calculation of the drawing path
+        });
+
+        this.referencePath = generatePath()
+        this.performingPath = new Path();
     }
 
+    /**
+     * Method that calculates the path that will be drawn on the
+     * canvas. This method will be called every time new motion data is received.
+     */
+    private void calculateDrawingPath(Point3D transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
+        // Recalculate the personal path based on the new motion data
+
+    }
+
+    /**
+     * Method for setting the rotation of the preview path.
+     *
+     * @param yaw The yaw rotation of the preview path.
+     * @param pitch The pitch rotation of the preview path.
+     */
+    public void setRotation(float yaw, float pitch) {
+        this.rotation.set(Math.toRadians(yaw), Math.toRadians(pitch));
+    }
+
+    /**
+     *  Method for projecting a 3D point onto the screen.
+     *  This method converts the 3D point to 2D space using a Model-View-Projection matrix transformation.
+     *
+     * @param point The point to cast to the screen.
+     * @param virtualWidth The width of the virtual screen.
+     *                     This is used to normalize the screen coordinates.
+     * @param virtualHeight The height of the virtual screen.
+     * @return The transformed vector in screen coordinates ranging from (0, 0) to (virtualWidth, virtualHeight).
+     */
+    private Vector2f projectVertex(Vector3f point, int virtualWidth, int virtualHeight) {
+
+        Matrix4f modelViewMatrix = new Matrix4f()
+                .rotateX((float) Math.toRadians(rotation.x))
+                .rotateY((float) Math.toRadians(rotation.y))
+                .translate(cameraPosition);
+
+        Matrix4f projectionMatrix = new Matrix4f()
+                .perspective((float) Math.toRadians(FOV), (float) virtualWidth / virtualHeight, Z_NEAR, Z_FAR);
+
+        // Calculate Model-View-Projection matrix
+        Matrix4f MVP = new Matrix4f()
+                .set(projectionMatrix)
+                .mul(modelViewMatrix);
+
+        // Convert to screen coordinates
+        Vector4f screenCoordinates = new Vector4f(point, 1.0f)
+                .mul(MVP);
+
+        // Normalize screen coordinates from (-1, 1) to (0, virtualWidth) and (0, virtualHeight)
+        float normalizedX = (screenCoordinates.x / screenCoordinates.w + 1.0f) * 0.5f * virtualWidth;
+        float normalizedY = (1.0f - screenCoordinates.y / screenCoordinates.w) * 0.5f * virtualHeight;
+
+        return new Vector2f(normalizedX, normalizedY);
+    }
+
+    /**
+     * Method that converts a sequence of vectors to a Path object.
+     * This path is a set of bezier curves that will be drawn on the canvas.
+     *
+     * @param curvature The curvature of the bezier curves.
+     *                  This number must be between 0 and 1, and it represents
+     *                  by how much the path segments will be curved.
+     *                  A value of 0 represents no curvature at all,
+     *                  while values closer to 1 approach full circular curvature.
+     * @param segments  The path segments in the path.
+     *                  These segments will be connected by bezier curves, which
+     *                  all have unique curvature values.
+     * @return The generated path object.
+     */
+    private Path getDrawablePath(double curvature, PathSegment... segments) {
+
+        Path calculatedPath = new Path();
+
+        // Starting point
+        Vector2f origin = projectVertex(segments[0].getStart(), getWidth(), getHeight());
+        calculatedPath.moveTo(origin.x, origin.y);
+
+        // Draw the path segments
+        for (PathSegment segment : segments) {
+            Vector2f startProjected = projectVertex(segment.getStart(), getWidth()/2, getHeight());
+            Vector2f endProjected = projectVertex(segment.getEnd(), getWidth()/2, getHeight());
+            calculatedPath.lineTo(startProjected.x, startProjected.y);
+            calculatedPath.lineTo(endProjected.x, endProjected.y);
+        }
+
+        return calculatedPath;
+    }
+
+
     @Override
     public void onDraw(Canvas canvas) {
         // Draw the sport preview canvas
+
+
+
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
new file mode 100644
index 0000000..5507c71
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
@@ -0,0 +1,124 @@
+package com.example.fitbot.util.path;
+
+import org.joml.Vector3f;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+public class GesturePath {
+
+    // The vectors that make up the path.
+    private final PathSegment[] segments;
+    private double curvature;
+
+    public GesturePath(Vector3f[] vectors) {
+        this(vectors, 0.0D);
+    }
+
+    /**
+     * Create a new gesture path with a given set of vectors and curvature.
+     *
+     * @param vectors The vectors that make up the path.
+     * @param curvature The curvature of the path.
+     */
+    public GesturePath(Vector3f[] vectors, double curvature)
+    {
+        if ( vectors.length < 2)
+            throw new IllegalArgumentException("A path must have at least two points.");
+
+        this.curvature = curvature;
+        this.segments = new PathSegment[vectors.length - 1];
+        for ( int i = 0; i < vectors.length - 1; i++)
+            segments[i] = new PathSegment(vectors[i], vectors[i + 1]);
+    }
+
+    /**
+     * Constructor for a GesturePath with provided PathSegments.
+     * @param segments The PathSegments to initialize the path with.
+     */
+    public GesturePath(PathSegment... segments) {
+        this.segments = segments;
+        this.curvature = 0.0d;
+    }
+
+    /**
+     * Getter method for retrieving the path segments of this GesturePath.
+     *
+     * @return The path segments.
+     */
+    public PathSegment[] getSegments() {
+        return segments;
+    }
+
+    /**
+     * Method for retrieving the closest path segment to a reference point.
+     *
+     * @param reference The reference point to find the closest path segment to.
+     * @return The closest path segment to the reference point.
+     */
+    public PathSegment closest(Vector3f reference) {
+        // If there's only one segment, return that one.
+        if ( segments.length == 1)
+            return segments[0];
+
+        return Arrays
+                .stream(segments)
+                .reduce(segments[0], (a, b) -> PathSegment.closer(a, b, reference));
+    }
+
+    /**
+     * Get the error between an arbitrary path segment and the reference point.
+     *
+     * @param referencePoint The reference point to calculate the error of.
+     * @return The error offset between the path and the reference point.
+     */
+    public double getError(Vector3f referencePoint) {
+        return closest(referencePoint).difference(referencePoint); // Get the closest segment and calculate the error.
+    }
+
+    // Builder class for the GesturePath object.
+    public static class Builder {
+
+        // List of vectors to add to the GesturePath object.
+        private final List<Vector3f> vectors;
+
+        /**
+         * Constructor for the Builder object.
+         *
+         * @param vectors The list of vectors to add.
+         */
+        public Builder(List<Vector3f> vectors) {
+            this.vectors = vectors;
+        }
+
+        /**
+         * Default constructor for the Builder object.
+         */
+        public Builder() {
+            this.vectors = new ArrayList<>();
+        }
+
+        /**
+         * Adds a vector to the GesturePath object.
+         *
+         * @param vector The vector to add.
+         * @return The Builder object.
+         */
+        public Builder addVector(Vector3f vector) {
+            vectors.add(vector);
+            return this;
+        }
+
+        /**
+         * Builds the GesturePath object.
+         *
+         * @return The GesturePath object.
+         */
+        public GesturePath build() {
+            return new GesturePath(vectors.toArray(new Vector3f[0]));
+        }
+
+    }
+
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
new file mode 100644
index 0000000..05f58a7
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
@@ -0,0 +1,175 @@
+package com.example.fitbot.util.path;
+
+import org.joml.Vector3f;
+
+public class PathSegment {
+
+    private final double curvature;
+    private final Vector3f start, end, normal;
+    private final double horizontalDistance;
+    private final double distance;
+    private final double vectorAngle; // The angle of the vector from the start to the end point.
+
+    /**
+     * Constructor for creating a PathSegment of two lines, with the normal vector
+     * pointing straight upwards relative to the line, with a curvature of 0.0.
+     *
+     * @param start The starting point of the line segment
+     * @param end The end point of the line segment.
+     */
+    public PathSegment(Vector3f start, Vector3f end) {
+        this.curvature = 0.0D;
+        this.start = start;
+        this.end = end;
+        this.horizontalDistance = Math.sqrt(Math.pow(end.x - start.x, 2) + Math.pow(end.z - start.z, 2));
+        this.vectorAngle = Math.atan2(end.y - start.y, horizontalDistance);
+        this.distance = start.distance(end);
+
+        // Normal vector calculation
+        double horizontalAngle = Math.atan2(end.z - start.z, end.x - start.x);
+        double verticalAngle = Math.atan2(end.y - start.y, horizontalDistance);
+        float sinVertical = (float)Math.sin(verticalAngle);
+        float cosVertical = (float)Math.cos(verticalAngle);
+        float sinHorizontal = (float)Math.sin(horizontalAngle);
+        float cosHorizontal = (float)Math.cos(horizontalAngle);
+        // The normal vector faces directly upward relative to the line between start and end.
+        // This means the normal vector is the perpendicular bisecting line from the line segment.
+        this.normal = new Vector3f(
+                sinVertical * cosHorizontal,
+                cosVertical,
+                sinVertical * sinHorizontal
+        );
+    }
+
+    /**
+     * Create a new path segment with a given start and end point.
+     *
+     * @param start     The start point of the path segment.
+     * @param end       The end point of the path segment.
+     *                  A value of 0 will result in the normal vector pointing upwards.
+     * @param normal The normal vector of the path segment.
+     *               This vector determines how the line curves, if it has a positive curvature.
+     * @param curvature The curvature of the path segment.
+     *                  This value is between -1 and 1, and is used to determine the curvature of the path,
+     *                  around the normal vector.
+     */
+    public PathSegment(Vector3f start, Vector3f end, Vector3f normal, double curvature) {
+        this.curvature = curvature;
+        this.start = start;
+        this.end = end;
+        this.horizontalDistance = Math.sqrt(Math.pow(end.x - start.x, 2) + Math.pow(end.z - start.z, 2));
+        this.vectorAngle = Math.atan2(end.y - start.y, horizontalDistance);
+        this.normal = normal;
+        this.distance = start.distance(end);
+    }
+
+    /**
+     * Method that interpolates between the start and end points of the path segment,
+     * depending on the curvature of the curve. If the curvature is unset, or set to 0
+     * then this method will use linear interpolation. Otherwise, it will use a curve.
+     *
+     * @param dst The destination vector to interpolate to.
+     * @param t   The interpolation value between 0 and 1.
+     */
+    public void interpolate(Vector3f dst, double t) {
+        t = Math.min(1.0D, Math.max(0.0D, t)); // Ensure boundaries
+
+        // If curvature is 0, use linear interpolation.
+        if (this.curvature == 0.0D) {
+            dst.set(start).lerp(end, (float) t);
+        } else {
+            // Interpolate over the ellipse.
+            double angle = t * Math.PI + vectorAngle; // Angle for on the ellipse
+            double cos = Math.cos(angle);
+            double sin = Math.sin(angle);
+
+            double
+
+            // Calculate the ellipse.
+
+
+        }
+    }
+
+    /**
+     * Method for returning the control point of the path segment.
+     * This point is the point that the path segment curves around.
+     *
+     * @return The control point of the path segment.
+     */
+    public Vector3f getControlPoint() {
+        return new Vector3f(
+                (this.start.x + this.end.x) / 2.0F,
+                (this.start.y + this.end.y) / 2.0F,
+                (this.start.z + this.end.z) / 2.0F
+        )
+                .add(this.normal
+                .mul((float) this.curvature * (float) this.distance / 2.0F));
+    }
+
+    /**
+     * Method for calculating the difference between the provided vector and the
+     * path segment, depending on the normal vector and the curvature.
+     * If the provided vector does not lie on the path segment, this method will return
+     * the linear distance to the path.
+     *
+     * @param other The vector to calculate the difference to.
+     * @return The difference between the vector and the path segment.
+     */
+    public double difference(Vector3f other) {
+        return 0.0D; // TODO: Implement.
+    }
+
+    /**
+     * Get the curvature of the path segment.
+     *
+     * @return The curvature of the path segment.
+     */
+    public double getVectorAngle() {
+        return this.vectorAngle;
+    }
+
+    /**
+     * Get the normal vector of the path segment.
+     *
+     * @return The normal vector of the path segment.
+     */
+    public Vector3f getStart() {
+        return start;
+    }
+
+    /**
+     * Get the end point of the path segment.
+     *
+     * @return The end point of the path segment.
+     */
+    public Vector3f getEnd() {
+        return end;
+    }
+
+    /**
+     * Method for returning the distance to the closest point on the path segment.
+     *
+     * @param reference The reference point to calculate the distance to.
+     * @return The distance to the closest point on the path segment.
+     */
+    public double distance(Vector3f reference) {
+        if ( this.start.distanceSquared(reference) > this.end.distanceSquared(reference))
+            return this.end.distance(reference);
+        return this.start.distance(reference);
+    }
+
+    /**
+     * Function for returning the closest path segment to a reference point.
+     *
+     * @param first The first path segment to compare.
+     * @param second The second path segment to compare.
+     * @param referencePoint The reference point to compare to.
+     * @return The closest path segment to the reference point.
+     */
+    public static PathSegment closer(PathSegment first, PathSegment second, Vector3f referencePoint) {
+        if (first.distance(referencePoint) < second.distance(referencePoint))
+            return first;
+        return second;
+    }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
similarity index 78%
rename from code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
rename to code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
index 47c251c..de14c78 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
@@ -1,9 +1,9 @@
-package com.example.fitbot.util.processing;
+package com.example.fitbot.util.path;
 
 import java.util.Arrays;
 import java.util.Comparator;
 
-public class Vector3 {
+public class Point3D {
 
     public double x, y, z;
 
@@ -14,7 +14,7 @@ public class Vector3 {
      * @param y The Y component of the vector.
      * @param z The Z component of the vector.
      */
-    public Vector3(double x, double y, double z) {
+    public Point3D(double x, double y, double z) {
         this.x = x;
         this.y = y;
         this.z = z;
@@ -25,8 +25,8 @@ public class Vector3 {
      *
      * @return A new vector with the same values.
      */
-    public Vector3 copy() {
-        return new Vector3(this.x, this.y, this.z);
+    public Point3D copy() {
+        return new Point3D(this.x, this.y, this.z);
     }
     
     /**
@@ -34,8 +34,8 @@ public class Vector3 {
      * 
      * @return The zero vector.
      */
-    public static Vector3 zero() {
-        return new Vector3(0, 0, 0);
+    public static Point3D zero() {
+        return new Point3D(0, 0, 0);
     }
 
     /**
@@ -52,10 +52,10 @@ public class Vector3 {
      *
      * @return The normalized vector.
      */
-    public Vector3 normalize() {
+    public Point3D normalize() {
         double mag = this.magnitude();
         if (mag == 0) throw new IllegalArgumentException("Cannot normalize the zero vector.");
-        return new Vector3(this.x / mag, this.y / mag, this.z / mag);
+        return new Point3D(this.x / mag, this.y / mag, this.z / mag);
     }
 
     /**
@@ -64,8 +64,8 @@ public class Vector3 {
      * @param other The other vector to subtract.
      * @return The new vector.
      */
-    public Vector3 subtract(Vector3 other) {
-        return new Vector3(this.x - other.x, this.y - other.y, this.z - other.z);
+    public Point3D subtract(Point3D other) {
+        return new Point3D(this.x - other.x, this.y - other.y, this.z - other.z);
     }
 
     /**
@@ -74,8 +74,8 @@ public class Vector3 {
      * @param other The other vector to add.
      * @return The new vector.
      */
-    public Vector3 add(Vector3 other) {
-        return new Vector3(this.x + other.x, this.y + other.y, this.z + other.z);
+    public Point3D add(Point3D other) {
+        return new Point3D(this.x + other.x, this.y + other.y, this.z + other.z);
     }
 
     /**
@@ -84,8 +84,8 @@ public class Vector3 {
      * @param scalar The scalar to multiply by.
      * @return The multiplied vector.
      */
-    public Vector3 multiply(double scalar) {
-        return new Vector3(this.x * scalar, this.y * scalar, this.z * scalar);
+    public Point3D multiply(double scalar) {
+        return new Point3D(this.x * scalar, this.y * scalar, this.z * scalar);
     }
 
     /**
@@ -94,9 +94,9 @@ public class Vector3 {
      * @param scalar The scalar to divide by.
      * @return The divided vector.
      */
-    public Vector3 divide(double scalar) {
+    public Point3D divide(double scalar) {
         if (scalar == 0) throw new IllegalArgumentException("Cannot divide by zero.");
-        return new Vector3(this.x / scalar, this.y / scalar, this.z / scalar);
+        return new Point3D(this.x / scalar, this.y / scalar, this.z / scalar);
     }
 
     /**
@@ -104,8 +104,8 @@ public class Vector3 {
      *
      * @return The negated vector.
      */
-    public Vector3 negate() {
-        return new Vector3(-this.x, -this.y, -this.z);
+    public Point3D negate() {
+        return new Point3D(-this.x, -this.y, -this.z);
     }
 
     /**
@@ -116,7 +116,7 @@ public class Vector3 {
      * @param radZ Rotation around the Z axis in radians.
      * @return The rotated vector.
      */
-    public Vector3 rotate(double radX, double radY, double radZ) {
+    public Point3D rotate(double radX, double radY, double radZ) {
         double cosX = Math.cos(radX);
         double cosY = Math.cos(radY);
         double cosZ = Math.cos(radZ);
@@ -126,7 +126,7 @@ public class Vector3 {
         double newX = x * cosY * cosZ + y * cosY * sinZ - z * sinY;
         double newY = x * (sinX * sinY * cosZ - cosX * sinZ) + y * (sinX * sinY * sinZ + cosX * cosZ) + z * sinX * cosY;
         double newZ = x * (cosX * sinY * cosZ + sinX * sinZ) + y * (cosX * sinY * sinZ - sinX * cosZ) + z * cosX * cosY;
-        return new Vector3(newX, newY, newZ);
+        return new Point3D(newX, newY, newZ);
     }
 
     /**
@@ -135,7 +135,7 @@ public class Vector3 {
      * @param rotation The rotation vector.
      * @return The rotated vector.
      */
-    public Vector3 rotate(Vector3 rotation) {
+    public Point3D rotate(Point3D rotation) {
         return rotate(rotation.x, rotation.y, rotation.z);
     }
 
@@ -145,10 +145,10 @@ public class Vector3 {
      * @param angle Rotation around the X axis in radians.
      * @return The rotated vector.
      */
-    public Vector3 rotateX(double angle) {
+    public Point3D rotateX(double angle) {
         double sinTheta = Math.sin(angle);
         double cosTheta = Math.cos(angle);
-        return new Vector3(
+        return new Point3D(
                 x,
                 y * cosTheta - z * sinTheta,
                 y * sinTheta + z * cosTheta
@@ -161,10 +161,10 @@ public class Vector3 {
      * @param angle Rotation around the Y axis in radians.
      * @return The rotated vector.
      */
-    public Vector3 rotateY(double angle) {
+    public Point3D rotateY(double angle) {
         double sinTheta = Math.sin(angle);
         double cosTheta = Math.cos(angle);
-        return new Vector3(
+        return new Point3D(
                 x * cosTheta + z * sinTheta,
                 y,
                 -x * sinTheta + z * cosTheta
@@ -177,10 +177,10 @@ public class Vector3 {
      * @param angle Rotation around the Z axis in radians.
      * @return The rotated vector.
      */
-    public Vector3 rotateZ(double angle) {
+    public Point3D rotateZ(double angle) {
         double sinTheta = Math.sin(angle);
         double cosTheta = Math.cos(angle);
-        return new Vector3(
+        return new Point3D(
                 x * cosTheta - y * sinTheta,
                 x * sinTheta + y * cosTheta,
                 z
@@ -193,7 +193,7 @@ public class Vector3 {
      * @param compare The other vector.
      * @return The squared distance between the two vectors.
      */
-    public double distanceSq(Vector3 compare) {
+    public double distanceSq(Point3D compare) {
         return Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2);
     }
 
@@ -203,7 +203,7 @@ public class Vector3 {
      * @param compare The other vector.
      * @return The distance between the two vectors.
      */
-    public double distance(Vector3 compare) {
+    public double distance(Point3D compare) {
         return Math.sqrt(distanceSq(compare));
     }
 
@@ -214,7 +214,7 @@ public class Vector3 {
      * @param lineEnd The ending point of the line.
      * @return The distance to the line.
      */
-    public double distanceToLine(Vector3 lineStart, Vector3 lineEnd) {
+    public double distanceToLine(Point3D lineStart, Point3D lineEnd) {
         double lineDistance = lineStart.distanceSq(lineEnd);
         if (lineDistance == 0)
             return this.distanceSq(lineStart);
@@ -225,7 +225,7 @@ public class Vector3 {
 
         t = Math.max(0, Math.min(1, t));
 
-        return this.distanceSq(new Vector3(
+        return this.distanceSq(new Point3D(
                 lineStart.x + t * (lineEnd.x - lineStart.x),
                 lineStart.y + t * (lineEnd.y - lineStart.y),
                 lineStart.z + t * (lineEnd.z - lineStart.z))
@@ -238,16 +238,16 @@ public class Vector3 {
      * @param vectors The list of vectors to compare.
      * @return The closest vector.
      */
-    public Vector3 closest(Vector3 ... vectors) {
+    public Point3D closest(Point3D... vectors) {
         return Arrays.stream(vectors).min(Comparator.comparingDouble(this::distanceSq)).orElse(null);
     }
 
-    public Vector3 map(VectorMapFunction function) {
+    public Point3D map(VectorMapFunction function) {
         return function.apply(this);
     }
 
     public interface VectorMapFunction {
-        Vector3 apply(Vector3 vector);
+        Point3D apply(Point3D vector);
     }
 
     @Override
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
deleted file mode 100644
index 451de9d..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
+++ /dev/null
@@ -1,104 +0,0 @@
-package com.example.fitbot.util.processing;
-
-import java.util.ArrayList;
-import java.util.List;
-
-public class GesturePath {
-
-    // The vectors that make up the path.
-    private final Vector3[] vectors;
-
-    public GesturePath(Vector3[] vectors) {
-        this.vectors = vectors;
-    }
-
-    /**
-     * Get the error between an arbitrary path segment and the reference point.
-     *
-     * @param referencePoint The reference point to calculate the error of.
-     * @return The error offset between the path and the reference point.
-     */
-    public double getError(Vector3 referencePoint) {
-        // If there are no vectors, return 0.
-        if ( vectors.length == 0)
-            return 0;
-
-        // If there's only one vector, return the distance to that vector.
-        if ( vectors.length == 1)
-            return vectors[0].distance(referencePoint);
-
-        double distance = Double.MAX_VALUE;
-        double currentDistSq, nextDistSq;
-        int closestVectorIdx = 0;
-
-        // Acquire two closest points to the reference point.
-        for ( int i = 0; i < vectors.length - 1; i++) {
-            currentDistSq = vectors[i].distanceSq(referencePoint);
-            nextDistSq = vectors[i + 1].distanceSq(referencePoint);
-
-            if ( currentDistSq < distance) {
-                distance = currentDistSq;
-                closestVectorIdx = i;
-            } else if ( nextDistSq < distance) {
-                distance = nextDistSq;
-                closestVectorIdx = i + 1;
-                i++; // Skip the next iteration; this point is already closer.
-            }
-        }
-
-        // Calculate the error between the two closest points.
-        Vector3 pointB = (closestVectorIdx == vectors.length - 1) ?
-                vectors[closestVectorIdx - 1] : // If the closest point is the last point, use the 1 to last one
-                (closestVectorIdx > 0 && // Find the closer point between the surrounding points.
-                        (vectors[closestVectorIdx - 1].distanceSq(referencePoint) < vectors[closestVectorIdx + 1].distanceSq(referencePoint))) ?
-                        vectors[closestVectorIdx - 1] :
-                        vectors[closestVectorIdx + 1];
-
-        return referencePoint.distanceToLine(vectors[closestVectorIdx], pointB);
-    }
-
-    // Builder class for the GesturePath object.
-    public static class Builder {
-
-        // List of vectors to add to the GesturePath object.
-        private final List<Vector3> vectors;
-
-        /**
-         * Constructor for the Builder object.
-         *
-         * @param vectors The list of vectors to add.
-         */
-        public Builder(List<Vector3> vectors) {
-            this.vectors = vectors;
-        }
-
-        /**
-         * Default constructor for the Builder object.
-         */
-        public Builder() {
-            this.vectors = new ArrayList<>();
-        }
-
-        /**
-         * Adds a vector to the GesturePath object.
-         *
-         * @param vector The vector to add.
-         * @return The Builder object.
-         */
-        public Builder addVector(Vector3 vector) {
-            vectors.add(vector);
-            return this;
-        }
-
-        /**
-         * Builds the GesturePath object.
-         *
-         * @return The GesturePath object.
-         */
-        public GesturePath build() {
-            return new GesturePath(vectors.toArray(new Vector3[0]));
-        }
-
-    }
-
-}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
index 2c10030..37e016f 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
@@ -1,11 +1,13 @@
 package com.example.fitbot.util.processing;
 
+import org.joml.Vector3f;
+
 import java.util.Objects;
 
 public class MotionData {
 
     // Data of the motion sensor
-    public Vector3 acceleration, rotation;
+    public Vector3f acceleration, rotation;
 
     // Delimiter for the data received from the motion sensor
     private static final String DATA_DELIMITER = ";";
@@ -20,9 +22,9 @@ public class MotionData {
      * @param rotationY     The rotation in the Y axis in degrees.
      * @param rotationZ     The rotation in the Z axis in degrees.
      */
-    public MotionData(double accelerationX, double accelerationY, double accelerationZ, double rotationX, double rotationY, double rotationZ) {
-        this.acceleration = new Vector3(accelerationX, accelerationY, accelerationZ);
-        this.rotation = new Vector3(rotationX, rotationY, rotationZ);
+    public MotionData(float accelerationX, float accelerationY, float accelerationZ, float rotationX, float rotationY, float rotationZ) {
+        this.acceleration = new Vector3f(accelerationX, accelerationY, accelerationZ);
+        this.rotation = new Vector3f(rotationX, rotationY, rotationZ);
     }
 
     /**
@@ -31,7 +33,7 @@ public class MotionData {
      * @param acceleration The acceleration vector in m/s^2.
      * @param rotation     The rotation vector in degrees.
      */
-    public MotionData(Vector3 acceleration, Vector3 rotation) {
+    public MotionData(Vector3f acceleration, Vector3f rotation) {
         this.acceleration = acceleration;
         this.rotation = rotation;
     }
@@ -52,12 +54,12 @@ public class MotionData {
             return null;
 
         return new MotionData(
-                Double.parseDouble(parts[0]),
-                Double.parseDouble(parts[1]),
-                Double.parseDouble(parts[2]),
-                Double.parseDouble(parts[3]),
-                Double.parseDouble(parts[4]),
-                Double.parseDouble(parts[5])
+                Float.parseFloat(parts[0]),
+                Float.parseFloat(parts[1]),
+                Float.parseFloat(parts[2]),
+                Float.parseFloat(parts[3]),
+                Float.parseFloat(parts[4]),
+                Float.parseFloat(parts[5])
         );
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index 43539ba..b4e7de3 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -2,10 +2,12 @@ package com.example.fitbot.util.processing;
 
 import android.util.Log;
 
+import com.example.fitbot.util.path.GesturePath;
 import com.example.fitbot.util.server.IWebSocketHandler;
 import com.example.fitbot.util.server.WebSocket;
 
 import org.jetbrains.annotations.NotNull;
+import org.joml.Vector3f;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -16,9 +18,10 @@ public class MotionProcessor {
     public static final String DELIMITER = ";";
 
     private final List<MotionData> preprocessedData = new ArrayList<>(); // Preprocessed motion data
-    private final List<Vector3> relativePath = new ArrayList<>(); // Relative path of the motion data
-    private Vector3 ZERO = new Vector3(0, 0, 0);
-    private double sampleRate = 1.0D; // samples/second
+    private final List<Vector3f> relativePath = new ArrayList<>(); // Relative path of the motion data
+    private Vector3f ZERO = new Vector3f(0, 0, 0);
+
+    private float sampleRate = 1.0F; // samples/second
     private DataConsumer motionDataConsumer = (p1, p2, p3, p4) -> {};
     private GesturePath path;
     private WebSocket socket;
@@ -77,14 +80,14 @@ public class MotionProcessor {
             // Otherwise check if it starts with 'calibrate', this is the ZERO point.
         } else if ( data.startsWith("zero")) { // message to calibrate device
             String[] vectorData = data.split(" ")[1].split(DELIMITER);
-            ZERO = new Vector3(
+            ZERO = new Vector3f(
                     Float.parseFloat(vectorData[0]),
                     Float.parseFloat(vectorData[1]),
                     Float.parseFloat(vectorData[2])
             );
             Log.i("MotionProcessor", "Device calibrated at " + ZERO.toString());
         } else if ( data.startsWith("sampleRate")) {
-            this.sampleRate = Double.parseDouble(data.split(" ")[1]);
+            this.sampleRate = Float.parseFloat(data.split(" ")[1]);
         }
     }
 
@@ -104,8 +107,8 @@ public class MotionProcessor {
      */
     public void addMotionData(MotionData data) {
         preprocessedData.add(data);
-        Vector3 previous = this.relativePath.isEmpty() ? ZERO : this.relativePath.get(this.relativePath.size() - 1);
-        Vector3 relativeVector = getRelativeVector(data).add(previous);
+        Vector3f previous = this.relativePath.isEmpty() ? ZERO : this.relativePath.get(this.relativePath.size() - 1);
+        Vector3f relativeVector = getRelativeVector(data).add(previous);
         this.relativePath.add(relativeVector);
         motionDataConsumer.accept(relativeVector, data, this.relativePath.size(), this.sampleRate);
     }
@@ -115,7 +118,7 @@ public class MotionProcessor {
      *
      * @param relativePath The new relative path.
      */
-    public void setRelativePath(List<Vector3> relativePath) {
+    public void setRelativePath(List<Vector3f> relativePath) {
         this.relativePath.clear();
         this.relativePath.addAll(relativePath);
     }
@@ -138,15 +141,17 @@ public class MotionProcessor {
      * @param motionData The motion data to calculate the relative vector for.
      * @return The relative vector of the motion data.
      */
-    public Vector3 getRelativeVector(MotionData motionData) {
+    public Vector3f getRelativeVector(MotionData motionData) {
 
         // Rotate the acceleration vector back by the rotation vector to make it
         // perpendicular to the gravity vector, then apply double integration to get the relative position.
         // s = 1/2 * a * t^2
         return motionData.acceleration
-                .rotate(motionData.rotation.negate())
-                .divide(2)
-                .multiply(sampleRate * sampleRate);
+                .rotateX(-motionData.rotation.x)
+                .rotateY(-motionData.rotation.y)
+                .rotateZ(-motionData.rotation.z)
+                .div(2)
+                .mul(sampleRate * sampleRate);
     }
 
     /**
@@ -185,7 +190,7 @@ public class MotionProcessor {
      * @param referencePoint The reference point to compare the motion data to.
      * @return The error of the motion data compared to the reference path.
      */
-    public double getError(GesturePath path, Vector3 referencePoint)
+    public double getError(GesturePath path, Vector3f referencePoint)
     {
         return path.getError(referencePoint);
     }
@@ -197,7 +202,7 @@ public class MotionProcessor {
      * @param referencePoint The reference point to compare the path data to.
      * @return The error of the motion data compared to the reference path.
      */
-    public double getError(Vector3 referencePoint) {
+    public double getError(Vector3f referencePoint) {
         if ( path == null)
             return 0;
         return path.getError(referencePoint);
@@ -254,6 +259,6 @@ public class MotionProcessor {
          * @param sampleIndex The index of the current sample
          * @param sampleRate The sample rate.
          */
-        void accept(Vector3 transformedVector, MotionData motionData, int sampleIndex, double sampleRate);
+        void accept(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate);
     }
 }

From 3e9385bb463e5dfa581af8c8949b54cfa33a2626 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 01:27:32 +0200
Subject: [PATCH 12/33] onderzoek-voorbeeld.md

---
 .../onderzoek-voorbeeld.md                    | 48 +++++++++++++++++++
 1 file changed, 48 insertions(+)
 create mode 100644 docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md

diff --git a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md b/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
new file mode 100644
index 0000000..657fcdd
--- /dev/null
+++ b/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
@@ -0,0 +1,48 @@
+# Literatuuronderzoek Luca Warmenhoven
+
+## Hoe kunnen we voorkomen dat de privacy van ouderen wordt geschonden bij het inzetten van kunstmatige intelligentie om eenzaamheid te bestrijden?
+
+---
+
+### Inhoudsopgave
+
+1. [Inleiding](#inleiding)
+2. [Hoe ontstaat eenzaamheid onder ouderen?](#hoe-ontstaat-eenzaamheid-onder-ouderen)
+3. [Kan kunstmatige intelligentie ingezet worden om dit te verhelpen?](#op-welke-manier-kunnen-we-kunstmatige-intelligentie-inzetten-om-eenzaamheid-onder-ouderen-te-bestrijden)
+4. [Hoe kunnen we ervoor zorgen dat de privacy van ouderen niet wordt geschonden?](#hoe-kunnen-we-ervoor-zorgen-dat-dit-gedaan-kan-worden-zonder-de-privacy-van-ouderen-te-schenden)
+5. [Conclusie](#conclusie)
+6. [Bronnen](#bronnen)
+
+---
+
+### Inleiding
+
+Door de vergrijzing van de bevolking neemt het aantal ouderen in Nederland toe. Dit zorgt ervoor dat er steeds meer ouderen terecht komen in de verzorgingstehuizen.
+Met een stijgende hoeveelheid ouderen in de verzorgingstehuizen zou je denken dat de eenzaamheid onder hen afneemt, maar dit is echter niet het geval.
+Een manier om dit probleem op te lossen is door het inzetten van robots. Om deze robots nog capabeler te maken wordt er tegenwoordig ook gebruik gemaakt van kunstmatige 
+intelligentie. Dit komt echter ook met nadelen, zo kan het dat er informatie gedeeld wordt met de makers van de robots.
+In dit onderzoek zal er gekeken worden of het mogelijk is om kunstmatige intelligentie toe te passen zonder dat dit ten koste gaat van de privacy van de ouderen.
+
+### Wat zijn de belangrijkste factoren die bijdragen aan eenzaamheid onder ouderen?
+Om te begrijpen hoe we eenzaamheid kunnen aanpakken is het noodzakelijk om te begrijpen waar het vandaan komt. Hierbij is het belangrijk om te kijken 
+naar wat voor factoren er meespelen in de levens van de ouderen die hieraan kunnen bijdragen. Eenzaamheid kan zowel fysiek als mentaal zijn, dit betekent
+dat hoewel het persoon omringt kan zijn met mensen, hij/zij nog steeds gevoelens van eenzaamheid kan ervaren. De oorzaak van emotionele eenzaamheid verschilt 
+per persoon, en valt niet zo gemakkelijk te verklaren, als te verhelpen. Bij fysieke eenzaamheid is het echter makkelijker om te zien waar het vandaan komt.
+Hierbij kunnen er andere omgevingsfactoren meespelen die ervoor zorgen dat het persoon zich eenzaam voelt.
+Denk hierbij aan het verlies van een partner of vrienden, familieproblematiek of acute verandering van levensstijl. ([1. SCP 2018](#bronnen)).
+Door dit soort veranderingen kan het zijn dat 
+
+### Op welke manier kunnen we kunstmatige intelligentie inzetten om eenzaamheid onder ouderen te bestrijden?
+
+### Hoe kunnen we ervoor zorgen dat dit gedaan kan worden zonder de privacy van ouderen te schenden?
+
+
+### Conclusie
+
+
+### Bronnen
+
+1. [Eenzaamheid ouderen](https://repository.scp.nl/bitstream/handle/publications/393/Kwetsbaar%20en%20eenzaam.pdf?sequence=1&isAllowed=y)
+2. [Cijfers eenzaamheid onder ouderen](https://www.cbs.nl/nl-nl/nieuws/2023/38/bijna-70-procent-van-ouderen-heeft-minstens-elke-week-contact-met-de-buren)
+3. [Inzetten robots in de ouderenzorg](https://digitcult.lim.di.unimi.it/index.php/dc/article/view/54)
+

From 0c4b4d3d0b2cc93d52c59d341a51179b2adb7846 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 10:42:08 +0200
Subject: [PATCH 13/33] Updated onderzoek-voorbeeld.md

---
 .../Luca/literatuuronderzoek/onderzoek-voorbeeld.md          | 5 ++++-
 1 file changed, 4 insertions(+), 1 deletion(-)

diff --git a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md b/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
index 657fcdd..052fc79 100644
--- a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
+++ b/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
@@ -30,7 +30,9 @@ dat hoewel het persoon omringt kan zijn met mensen, hij/zij nog steeds gevoelens
 per persoon, en valt niet zo gemakkelijk te verklaren, als te verhelpen. Bij fysieke eenzaamheid is het echter makkelijker om te zien waar het vandaan komt.
 Hierbij kunnen er andere omgevingsfactoren meespelen die ervoor zorgen dat het persoon zich eenzaam voelt.
 Denk hierbij aan het verlies van een partner of vrienden, familieproblematiek of acute verandering van levensstijl. ([1. SCP 2018](#bronnen)).
-Door dit soort veranderingen kan het zijn dat 
+Door dit soort veranderingen kan het zijn dat het persoon in een depressie raakt, wat er weer voor kan zorgen dat het persoon zich eenzaam voelt,
+en dat het persoon zich nog meer terugtrekt van de buitenwereld. Dit is een vicieuze cirkel die moeilijk te doorbreken is.
+Daarom is het belangrijk om te kijken of er ook methoden zijn om hierbij te helpen, zowel binnen als buitenhuis.
 
 ### Op welke manier kunnen we kunstmatige intelligentie inzetten om eenzaamheid onder ouderen te bestrijden?
 
@@ -45,4 +47,5 @@ Door dit soort veranderingen kan het zijn dat
 1. [Eenzaamheid ouderen](https://repository.scp.nl/bitstream/handle/publications/393/Kwetsbaar%20en%20eenzaam.pdf?sequence=1&isAllowed=y)
 2. [Cijfers eenzaamheid onder ouderen](https://www.cbs.nl/nl-nl/nieuws/2023/38/bijna-70-procent-van-ouderen-heeft-minstens-elke-week-contact-met-de-buren)
 3. [Inzetten robots in de ouderenzorg](https://digitcult.lim.di.unimi.it/index.php/dc/article/view/54)
+4. [Effectiviteit robots in de ouderenzorg](https://essay.utwente.nl/92446/1/Watford-Spence_MA_Behavioural%2C%20Management%20and%20Social%20sciences.pdf)
 

From 7fba504e9091f0505b8747844e5f36acfd9699f6 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 12:04:36 +0200
Subject: [PATCH 14/33] Renamed files, added motion-tracking-system-analysis.md

---
 .idea/workspace.xml                           | 106 +++++++++++++-----
 .../apache/apache.md                          |   0
 .../apache/apacheSetup.md                     |   0
 .../mariaDB/mariaDB.md                        |   0
 .../mariaDB/mariaDBSetup.md                   |   0
 .../nodeJs/nodeJs.md                          |   0
 .../nodeJs/nodeJsSetup.md                     |   0
 .../phpMyAdmin/phpMyAdmin.md                  |   0
 .../phpMyAdmin/phpMyAdminSetup.md             |   0
 .../raspberryPiSetup.md                       |   0
 .../motion-tracking-system-analysis.md        |   9 ++
 .../Luca/expert-review-tips.md                |   0
 .../onderzoek-formulier.md                    |   0
 .../onderzoek-voorbeeld.md                    |  10 +-
 .../Luca/literatuuronderzoek/onderzoek.md     |   0
 .../Luca/weekly-reports/sprint-1-week-1.md    |   0
 .../Luca/weekly-reports/sprint-1-week-2.md    |   0
 .../Onderzoeks verslag/betoog opdrachten.md   |   0
 .../Sam/Betoog.md                             |   0
 ...eschrijving en Hoofd en Deelvragen copy.md |   0
 ...embeschrijving en Hoofd en DeelvragenV2.md |   0
 .../Sam/Hoofd-deelvragen.md                   |   0
 .../sebas/dailyUpdates.md                     |   0
 .../sebas/expertReview/expert1sprint1.md      |   0
 .../sebas/expertReview/expert2sprint2.md      |   0
 ...embeschrijving en Hoofd en Deelvragen.docx | Bin
 .../sebas/onderzoekEthiek/deelvragen.md       |   0
 .../sebas/onderzoekEthiek/formulier.md        |   0
 .../sebas/onderzoekEthiek/onderzoekEthiek.md  |   0
 29 files changed, 97 insertions(+), 28 deletions(-)
 rename docs/documentation/{raspberryPi => raspberry-pi}/apache/apache.md (100%)
 rename docs/documentation/{raspberryPi => raspberry-pi}/apache/apacheSetup.md (100%)
 rename docs/documentation/{raspberryPi => raspberry-pi}/mariaDB/mariaDB.md (100%)
 rename docs/documentation/{raspberryPi => raspberry-pi}/mariaDB/mariaDBSetup.md (100%)
 rename docs/documentation/{raspberryPi => raspberry-pi}/nodeJs/nodeJs.md (100%)
 rename docs/documentation/{raspberryPi => raspberry-pi}/nodeJs/nodeJsSetup.md (100%)
 rename docs/documentation/{raspberryPi => raspberry-pi}/phpMyAdmin/phpMyAdmin.md (100%)
 rename docs/documentation/{raspberryPi => raspberry-pi}/phpMyAdmin/phpMyAdminSetup.md (100%)
 rename docs/documentation/{raspberryPi => raspberry-pi}/raspberryPiSetup.md (100%)
 create mode 100644 docs/documentation/research-questions/motion-tracking-system-analysis.md
 rename docs/{personalDocs => personal-documentation}/Luca/expert-review-tips.md (100%)
 rename docs/{personalDocs => personal-documentation}/Luca/literatuuronderzoek/onderzoek-formulier.md (100%)
 rename docs/{personalDocs => personal-documentation}/Luca/literatuuronderzoek/onderzoek-voorbeeld.md (86%)
 rename docs/{personalDocs => personal-documentation}/Luca/literatuuronderzoek/onderzoek.md (100%)
 rename docs/{personalDocs => personal-documentation}/Luca/weekly-reports/sprint-1-week-1.md (100%)
 rename docs/{personalDocs => personal-documentation}/Luca/weekly-reports/sprint-1-week-2.md (100%)
 rename docs/{personalDocs => personal-documentation}/Niels/Onderzoeks verslag/betoog opdrachten.md (100%)
 rename docs/{personalDocs => personal-documentation}/Sam/Betoog.md (100%)
 rename docs/{personalDocs => personal-documentation}/Sam/Formulier Probleembeschrijving en Hoofd en Deelvragen copy.md (100%)
 rename docs/{personalDocs => personal-documentation}/Sam/Formulier Probleembeschrijving en Hoofd en DeelvragenV2.md (100%)
 rename docs/{personalDocs => personal-documentation}/Sam/Hoofd-deelvragen.md (100%)
 rename docs/{personalDocs => personal-documentation}/sebas/dailyUpdates.md (100%)
 rename docs/{personalDocs => personal-documentation}/sebas/expertReview/expert1sprint1.md (100%)
 rename docs/{personalDocs => personal-documentation}/sebas/expertReview/expert2sprint2.md (100%)
 rename docs/{personalDocs => personal-documentation}/sebas/onderzoekEthiek/Formulier Probleembeschrijving en Hoofd en Deelvragen.docx (100%)
 rename docs/{personalDocs => personal-documentation}/sebas/onderzoekEthiek/deelvragen.md (100%)
 rename docs/{personalDocs => personal-documentation}/sebas/onderzoekEthiek/formulier.md (100%)
 rename docs/{personalDocs => personal-documentation}/sebas/onderzoekEthiek/onderzoekEthiek.md (100%)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index fb9da63..942574a 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -14,15 +14,36 @@
     </configurations>
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="00599d5b-7eb5-44da-ad7f-98bf42384c16" name="Changes" comment="Final update onderzoek-formulier.md">
-      <change afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnection.java" afterDir="false" />
+    <list default="true" id="00599d5b-7eb5-44da-ad7f-98bf42384c16" name="Changes" comment="Updated onderzoek-voorbeeld.md">
+      <change afterPath="$PROJECT_DIR$/docs/documentation/research-questions/motion-tracking-system-analysis.md" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionInputStream.java" beforeDir="false" />
-      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/IWebSocketHandler.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocket.java" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java" beforeDir="false" afterPath="$PROJECT_DIR$/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/server/WebSocketConnectionHandler.java" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/apache/apache.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/apache/apache.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/apache/apacheSetup.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/apache/apacheSetup.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/mariaDB/mariaDB.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/mariaDB/mariaDB.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/mariaDB/mariaDBSetup.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/mariaDB/mariaDBSetup.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/nodeJs/nodeJs.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/nodeJs/nodeJs.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/nodeJs/nodeJsSetup.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/nodeJs/nodeJsSetup.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/phpMyAdmin/phpMyAdmin.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/phpMyAdmin/phpMyAdmin.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/phpMyAdmin/phpMyAdminSetup.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/phpMyAdmin/phpMyAdminSetup.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/documentation/raspberryPi/raspberryPiSetup.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/raspberry-pi/raspberryPiSetup.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Luca/expert-review-tips.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Luca/expert-review-tips.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-formulier.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-formulier.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Luca/literatuuronderzoek/onderzoek.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Luca/weekly-reports/sprint-1-week-1.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Luca/weekly-reports/sprint-1-week-1.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Luca/weekly-reports/sprint-1-week-2.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Luca/weekly-reports/sprint-1-week-2.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Niels/Onderzoeks verslag/betoog opdrachten.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Niels/Onderzoeks verslag/betoog opdrachten.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Sam/Betoog.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Sam/Betoog.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Sam/Formulier Probleembeschrijving en Hoofd en Deelvragen copy.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Sam/Formulier Probleembeschrijving en Hoofd en Deelvragen copy.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Sam/Formulier Probleembeschrijving en Hoofd en DeelvragenV2.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Sam/Formulier Probleembeschrijving en Hoofd en DeelvragenV2.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/Sam/Hoofd-deelvragen.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Sam/Hoofd-deelvragen.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/sebas/dailyUpdates.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/sebas/dailyUpdates.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/sebas/expertReview/expert1sprint1.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/sebas/expertReview/expert1sprint1.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/sebas/expertReview/expert2sprint2.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/sebas/expertReview/expert2sprint2.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/sebas/onderzoekEthiek/Formulier Probleembeschrijving en Hoofd en Deelvragen.docx" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/sebas/onderzoekEthiek/Formulier Probleembeschrijving en Hoofd en Deelvragen.docx" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/sebas/onderzoekEthiek/deelvragen.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/sebas/onderzoekEthiek/deelvragen.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/sebas/onderzoekEthiek/formulier.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/sebas/onderzoekEthiek/formulier.md" afterDir="false" />
+      <change beforePath="$PROJECT_DIR$/docs/personalDocs/sebas/onderzoekEthiek/onderzoekEthiek.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/sebas/onderzoekEthiek/onderzoekEthiek.md" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -32,7 +53,6 @@
   <component name="ClangdSettings">
     <option name="formatViaClangd" value="false" />
   </component>
-  <component name="ExecutionTargetManager" SELECTED_TARGET="device_and_snapshot_combo_box_target[]" />
   <component name="ExternalProjectsData">
     <projectState path="$PROJECT_DIR$">
       <ProjectState />
@@ -62,6 +82,11 @@
     <option name="BRANCH" value="origin/main" />
   </component>
   <component name="Git.Settings">
+    <option name="RECENT_BRANCH_BY_REPOSITORY">
+      <map>
+        <entry key="$PROJECT_DIR$" value="44-als-gebruiker-wil-ik-dat-ik-feedback-krijg-als-mijn-bewegingen-niet-optimaal-zijn-zodat-ik-weet" />
+      </map>
+    </option>
     <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$" />
   </component>
   <component name="GitSEFilterConfiguration">
@@ -87,22 +112,22 @@
     <option name="hideEmptyMiddlePackages" value="true" />
     <option name="showLibraryContents" value="true" />
   </component>
-  <component name="PropertiesComponent"><![CDATA[{
-  "keyToString": {
-    "RunOnceActivity.OpenProjectViewOnStart": "true",
-    "RunOnceActivity.ShowReadmeOnStart": "true",
-    "git-widget-placeholder": "44-als-gebruiker-wil-ik-dat-ik-feedback-krijg-als-mijn-bewegingen-niet-op…-weet",
-    "kotlin-language-version-configured": "true",
-    "last_opened_file_path": "/Users/lucawarm/Jetbrains/Android Studio/muupooviixee66",
-    "node.js.detected.package.eslint": "true",
-    "node.js.detected.package.tslint": "true",
-    "node.js.selected.package.eslint": "(autodetect)",
-    "node.js.selected.package.tslint": "(autodetect)",
-    "nodejs_package_manager_path": "npm",
-    "settings.editor.selected.configurable": "preferences.pluginManager",
-    "vue.rearranger.settings.migration": "true"
+  <component name="PropertiesComponent">{
+  &quot;keyToString&quot;: {
+    &quot;RunOnceActivity.OpenProjectViewOnStart&quot;: &quot;true&quot;,
+    &quot;RunOnceActivity.ShowReadmeOnStart&quot;: &quot;true&quot;,
+    &quot;git-widget-placeholder&quot;: &quot;main&quot;,
+    &quot;kotlin-language-version-configured&quot;: &quot;true&quot;,
+    &quot;last_opened_file_path&quot;: &quot;/Users/lucawarm/Jetbrains/Android Studio/muupooviixee66&quot;,
+    &quot;node.js.detected.package.eslint&quot;: &quot;true&quot;,
+    &quot;node.js.detected.package.tslint&quot;: &quot;true&quot;,
+    &quot;node.js.selected.package.eslint&quot;: &quot;(autodetect)&quot;,
+    &quot;node.js.selected.package.tslint&quot;: &quot;(autodetect)&quot;,
+    &quot;nodejs_package_manager_path&quot;: &quot;npm&quot;,
+    &quot;settings.editor.selected.configurable&quot;: &quot;preferences.pluginManager&quot;,
+    &quot;vue.rearranger.settings.migration&quot;: &quot;true&quot;
   }
-}]]></component>
+}</component>
   <component name="RecentsManager">
     <key name="MoveFile.RECENT_KEYS">
       <recent name="$PROJECT_DIR$/code/src/app/src/main/java/com/fitbot" />
@@ -142,6 +167,13 @@
       <method v="2" />
     </configuration>
   </component>
+  <component name="SharedIndexes">
+    <attachedChunks>
+      <set>
+        <option value="bundled-js-predefined-1d06a55b98c1-2e7d6887c066-JavaScript-WS-241.15989.47" />
+      </set>
+    </attachedChunks>
+  </component>
   <component name="SpellCheckerSettings" RuntimeDictionaries="0" Folders="0" CustomDictionaries="0" DefaultDictionary="application-level" UseSingleDictionary="true" transferred="true" />
   <component name="TaskManager">
     <task active="true" id="Default" summary="Default task">
@@ -155,6 +187,10 @@
       <workItem from="1713814327036" duration="4920000" />
       <workItem from="1713863377053" duration="634000" />
       <workItem from="1713960463274" duration="353000" />
+      <workItem from="1715686350378" duration="91000" />
+      <workItem from="1715687332786" duration="822000" />
+      <workItem from="1715724270673" duration="5481000" />
+      <workItem from="1715765990621" duration="1450000" />
     </task>
     <task id="LOCAL-00001" summary="Changes">
       <created>1713528225837</created>
@@ -208,7 +244,23 @@
       <option name="project" value="LOCAL" />
       <updated>1713858768333</updated>
     </task>
-    <option name="localTasksCounter" value="8" />
+    <task id="LOCAL-00008" summary="onderzoek-voorbeeld.md">
+      <option name="closed" value="true" />
+      <created>1715729252488</created>
+      <option name="number" value="00008" />
+      <option name="presentableId" value="LOCAL-00008" />
+      <option name="project" value="LOCAL" />
+      <updated>1715729252488</updated>
+    </task>
+    <task id="LOCAL-00009" summary="Updated onderzoek-voorbeeld.md">
+      <option name="closed" value="true" />
+      <created>1715762530473</created>
+      <option name="number" value="00009" />
+      <option name="presentableId" value="LOCAL-00009" />
+      <option name="project" value="LOCAL" />
+      <updated>1715762530473</updated>
+    </task>
+    <option name="localTasksCounter" value="10" />
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
@@ -234,6 +286,8 @@
     <MESSAGE value="Added 'onderzoek.md' &amp; 'onderzoek-formulier.md'" />
     <MESSAGE value="Updated 'onderzoek-formulier.md'" />
     <MESSAGE value="Final update onderzoek-formulier.md" />
-    <option name="LAST_COMMIT_MESSAGE" value="Final update onderzoek-formulier.md" />
+    <MESSAGE value="onderzoek-voorbeeld.md" />
+    <MESSAGE value="Updated onderzoek-voorbeeld.md" />
+    <option name="LAST_COMMIT_MESSAGE" value="Updated onderzoek-voorbeeld.md" />
   </component>
 </project>
\ No newline at end of file
diff --git a/docs/documentation/raspberryPi/apache/apache.md b/docs/documentation/raspberry-pi/apache/apache.md
similarity index 100%
rename from docs/documentation/raspberryPi/apache/apache.md
rename to docs/documentation/raspberry-pi/apache/apache.md
diff --git a/docs/documentation/raspberryPi/apache/apacheSetup.md b/docs/documentation/raspberry-pi/apache/apacheSetup.md
similarity index 100%
rename from docs/documentation/raspberryPi/apache/apacheSetup.md
rename to docs/documentation/raspberry-pi/apache/apacheSetup.md
diff --git a/docs/documentation/raspberryPi/mariaDB/mariaDB.md b/docs/documentation/raspberry-pi/mariaDB/mariaDB.md
similarity index 100%
rename from docs/documentation/raspberryPi/mariaDB/mariaDB.md
rename to docs/documentation/raspberry-pi/mariaDB/mariaDB.md
diff --git a/docs/documentation/raspberryPi/mariaDB/mariaDBSetup.md b/docs/documentation/raspberry-pi/mariaDB/mariaDBSetup.md
similarity index 100%
rename from docs/documentation/raspberryPi/mariaDB/mariaDBSetup.md
rename to docs/documentation/raspberry-pi/mariaDB/mariaDBSetup.md
diff --git a/docs/documentation/raspberryPi/nodeJs/nodeJs.md b/docs/documentation/raspberry-pi/nodeJs/nodeJs.md
similarity index 100%
rename from docs/documentation/raspberryPi/nodeJs/nodeJs.md
rename to docs/documentation/raspberry-pi/nodeJs/nodeJs.md
diff --git a/docs/documentation/raspberryPi/nodeJs/nodeJsSetup.md b/docs/documentation/raspberry-pi/nodeJs/nodeJsSetup.md
similarity index 100%
rename from docs/documentation/raspberryPi/nodeJs/nodeJsSetup.md
rename to docs/documentation/raspberry-pi/nodeJs/nodeJsSetup.md
diff --git a/docs/documentation/raspberryPi/phpMyAdmin/phpMyAdmin.md b/docs/documentation/raspberry-pi/phpMyAdmin/phpMyAdmin.md
similarity index 100%
rename from docs/documentation/raspberryPi/phpMyAdmin/phpMyAdmin.md
rename to docs/documentation/raspberry-pi/phpMyAdmin/phpMyAdmin.md
diff --git a/docs/documentation/raspberryPi/phpMyAdmin/phpMyAdminSetup.md b/docs/documentation/raspberry-pi/phpMyAdmin/phpMyAdminSetup.md
similarity index 100%
rename from docs/documentation/raspberryPi/phpMyAdmin/phpMyAdminSetup.md
rename to docs/documentation/raspberry-pi/phpMyAdmin/phpMyAdminSetup.md
diff --git a/docs/documentation/raspberryPi/raspberryPiSetup.md b/docs/documentation/raspberry-pi/raspberryPiSetup.md
similarity index 100%
rename from docs/documentation/raspberryPi/raspberryPiSetup.md
rename to docs/documentation/raspberry-pi/raspberryPiSetup.md
diff --git a/docs/documentation/research-questions/motion-tracking-system-analysis.md b/docs/documentation/research-questions/motion-tracking-system-analysis.md
new file mode 100644
index 0000000..62a4957
--- /dev/null
+++ b/docs/documentation/research-questions/motion-tracking-system-analysis.md
@@ -0,0 +1,9 @@
+## Analysis for Motion Tracking System on the Pepper Robot.
+
+---
+
+For our project, we want our users to be able to see the movement they're making, so they can
+see whether they're executing the fitness task correctly. For a tracking system as such, we'll need to use quite
+some mathematics.
+
+Our current approach is defining 
\ No newline at end of file
diff --git a/docs/personalDocs/Luca/expert-review-tips.md b/docs/personal-documentation/Luca/expert-review-tips.md
similarity index 100%
rename from docs/personalDocs/Luca/expert-review-tips.md
rename to docs/personal-documentation/Luca/expert-review-tips.md
diff --git a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-formulier.md b/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-formulier.md
similarity index 100%
rename from docs/personalDocs/Luca/literatuuronderzoek/onderzoek-formulier.md
rename to docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-formulier.md
diff --git a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md b/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
similarity index 86%
rename from docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
rename to docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
index 052fc79..91a46d8 100644
--- a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
+++ b/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
@@ -24,16 +24,20 @@ intelligentie. Dit komt echter ook met nadelen, zo kan het dat er informatie ged
 In dit onderzoek zal er gekeken worden of het mogelijk is om kunstmatige intelligentie toe te passen zonder dat dit ten koste gaat van de privacy van de ouderen.
 
 ### Wat zijn de belangrijkste factoren die bijdragen aan eenzaamheid onder ouderen?
+
 Om te begrijpen hoe we eenzaamheid kunnen aanpakken is het noodzakelijk om te begrijpen waar het vandaan komt. Hierbij is het belangrijk om te kijken 
 naar wat voor factoren er meespelen in de levens van de ouderen die hieraan kunnen bijdragen. Eenzaamheid kan zowel fysiek als mentaal zijn, dit betekent
 dat hoewel het persoon omringt kan zijn met mensen, hij/zij nog steeds gevoelens van eenzaamheid kan ervaren. De oorzaak van emotionele eenzaamheid verschilt 
 per persoon, en valt niet zo gemakkelijk te verklaren, als te verhelpen. Bij fysieke eenzaamheid is het echter makkelijker om te zien waar het vandaan komt.
-Hierbij kunnen er andere omgevingsfactoren meespelen die ervoor zorgen dat het persoon zich eenzaam voelt.
-Denk hierbij aan het verlies van een partner of vrienden, familieproblematiek of acute verandering van levensstijl. ([1. SCP 2018](#bronnen)).
+Hierbij kunnen er andere omgevingsfactoren meespelen die ervoor zorgen dat het persoon zich eenzaam voelt, 
+denk hierbij aan het verlies van een partner of vrienden, familieproblematiek of acute verandering van levensstijl. ([1. SCP 2018](#bronnen)).
 Door dit soort veranderingen kan het zijn dat het persoon in een depressie raakt, wat er weer voor kan zorgen dat het persoon zich eenzaam voelt,
 en dat het persoon zich nog meer terugtrekt van de buitenwereld. Dit is een vicieuze cirkel die moeilijk te doorbreken is.
 Daarom is het belangrijk om te kijken of er ook methoden zijn om hierbij te helpen, zowel binnen als buitenhuis.
 
+Doordat robots de laatste decennia steeds geavanceerder zijn geworden, is het mogelijk om te overwegen deze toe te passen
+in de ouderenzorg om te helpen bij het eenzaamheidsprobleem. 
+
 ### Op welke manier kunnen we kunstmatige intelligentie inzetten om eenzaamheid onder ouderen te bestrijden?
 
 ### Hoe kunnen we ervoor zorgen dat dit gedaan kan worden zonder de privacy van ouderen te schenden?
@@ -48,4 +52,6 @@ Daarom is het belangrijk om te kijken of er ook methoden zijn om hierbij te help
 2. [Cijfers eenzaamheid onder ouderen](https://www.cbs.nl/nl-nl/nieuws/2023/38/bijna-70-procent-van-ouderen-heeft-minstens-elke-week-contact-met-de-buren)
 3. [Inzetten robots in de ouderenzorg](https://digitcult.lim.di.unimi.it/index.php/dc/article/view/54)
 4. [Effectiviteit robots in de ouderenzorg](https://essay.utwente.nl/92446/1/Watford-Spence_MA_Behavioural%2C%20Management%20and%20Social%20sciences.pdf)
+5. [AI, Privacy and Security](https://www.frontiersin.org/articles/10.3389/frai.2022.826737/full)
+6. [Problematic Interactions between AI and Health Privacy](https://heinonline.org/HOL/LandingPage?handle=hein.journals/utahlr2021&div=25&id=&page=)
 
diff --git a/docs/personalDocs/Luca/literatuuronderzoek/onderzoek.md b/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek.md
similarity index 100%
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rename to docs/personal-documentation/Luca/literatuuronderzoek/onderzoek.md
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From 307a06e53f5ad0c3ac910e6b6e6e94f0d75fec02 Mon Sep 17 00:00:00 2001
From: SebasKoedam <Sebas@koedam.info>
Date: Wed, 15 May 2024 12:36:50 +0200
Subject: [PATCH 15/33] feat: Add FitnessActivity for fitness tracking
 functionality

---
 .../fitbot/ui/activities/FitnessActivity.java | 31 +++++++++++++++++++
 .../ui/activities/SportPreviewActivity.java   | 24 --------------
 2 files changed, 31 insertions(+), 24 deletions(-)
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/SportPreviewActivity.java

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
new file mode 100644
index 0000000..9c5d999
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
@@ -0,0 +1,31 @@
+package com.example.yourapp;
+
+import android.os.Bundle;
+import androidx.appcompat.widget.Toolbar;
+import com.aldebaran.qi.sdk.QiContext;
+import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
+import com.aldebaran.qi.sdk.design.activity.RobotActivity;
+
+public class FitnessActivity extends RobotActivity implements RobotLifecycleCallbacks {
+
+    @Override
+    protected void onCreate(Bundle savedInstanceState) {
+        super.onCreate(savedInstanceState);
+        setContentView(R.layout.activity_fitness);
+    }
+
+    @Override
+    public void onRobotFocusGained(QiContext qiContext) {
+        // Implement your logic when the robot focus is gained
+    }
+
+    @Override
+    public void onRobotFocusLost() {
+        // Implement your logic when the robot focus is lost
+    }
+
+    @Override
+    public void onRobotFocusRefused(String reason) {
+        // Implement your logic when the robot focus is refused
+    }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/SportPreviewActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/SportPreviewActivity.java
deleted file mode 100644
index 02e289f..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/SportPreviewActivity.java
+++ /dev/null
@@ -1,24 +0,0 @@
-package com.example.fitbot.ui.activities;
-
-import com.aldebaran.qi.sdk.QiContext;
-import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
-import com.aldebaran.qi.sdk.design.activity.RobotActivity;
-
-public class SportPreviewActivity extends RobotActivity implements RobotLifecycleCallbacks {
-
-
-    @Override
-    public void onRobotFocusGained(QiContext qiContext) {
-
-    }
-
-    @Override
-    public void onRobotFocusLost() {
-
-    }
-
-    @Override
-    public void onRobotFocusRefused(String reason) {
-
-    }
-}

From c5c0e871e883bbd4e4b20f172b673262b60d48d8 Mon Sep 17 00:00:00 2001
From: SebasKoedam <Sebas@koedam.info>
Date: Wed, 15 May 2024 12:36:57 +0200
Subject: [PATCH 16/33] feat: Implement position tracking with Wii Fit Board

---
 .../position-tracking-research.md             | 85 +++++++++++++++++++
 1 file changed, 85 insertions(+)
 create mode 100644 docs/documentation/research-questions/position-tracking-research.md

diff --git a/docs/documentation/research-questions/position-tracking-research.md b/docs/documentation/research-questions/position-tracking-research.md
new file mode 100644
index 0000000..9aa5001
--- /dev/null
+++ b/docs/documentation/research-questions/position-tracking-research.md
@@ -0,0 +1,85 @@
+# Position Tracking with Embedded Systems
+
+## Introduction
+
+For this project we want to design an embedded system that can track a users position. We want to track their current position on the ground and see how they are shifting their weight. This system will be used to track their position to determine if a user is doing the exercises correctly.
+
+## Objectives
+
+- Design an embedded system that can track user position.
+- Develop an algorithm to process the data from the Wii Fit Board and determine the user's position.
+
+## Research and Analysis
+
+### Choosing the Wii Fit Board
+
+For this project we have chosen the Wii Fit Board as our primary sensor. The Wii Fit Board is a balance board that can measure a user's weight and center of balance. It is a low-cost sensor that is easy to interface with a microcontroller. The Wii Fit Board communicates over Bluetooth, which makes it easy to connect to a microcontroller with Bluetooth capabilities.
+
+### Alternative Solutions
+
+There are other sensors that can be used for position tracking, such as pressure sensors or accelerometers. However, these sensors are more expensive and may require additional processing to determine the user's position. The Wii Fit Board provides a simple and cost-effective solution for position tracking.
+
+Example of other sensors that can be used for position tracking:
+
+Pressure sensors:
+    - Description: Pressure sensors can be used to measure the force applied by the user on the ground. By measuring the pressure distribution, the user's position can be determined.
+    - Pros: High accuracy, can measure force applied by the user.
+    - Cons: Expensive, will require additional hardware for data transfer.
+    - Cost: ~ 33 euros (https://www.antratek.nl/flexiforce-a401-sensor-25lbs?gad_source=1&gclid=CjwKCAjwupGyBhBBEiwA0UcqaMMrIXGafsF2oE-15JaTPT5tDhfCyDHz2D2gSghyPvg11okv_QIFThoCw5oQAvD_BwE)
+
+Accelerometers:
+    - Description: Accelerometers can be used to measure the user's acceleration and orientation. By integrating the acceleration data, the user's position can be determined.
+    - Pros: Can measure acceleration and orientation, cheap.
+    - Cons: Will require additional hardware for data transfer.
+    - Cost: ~ 5 euros (https://www.amazon.nl/versnellingsmeter-gyroscoop-versnellingssensor-converter-gegevensuitgang/dp/B07BVXN2GP/ref=asc_df_B07BVXN2GP/?tag=nlshogostdde-21&linkCode=df0&hvadid=430548884871&hvpos=&hvnetw=g&hvrand=5187253011954678898&hvpone=&hvptwo=&hvqmt=&hvdev=c&hvdvcmdl=&hvlocint=&hvlocphy=1010543&hvtargid=pla-928293154057&psc=1&mcid=43bf111afa7b3ba593f4a49321683352)
+
+### System Requirements
+
+To be added 
+
+## System Design
+
+### Hardware
+
+The hardware of the system will consist of the following components:
+    - Wii Fit Board: The primary sensor for position tracking.
+    - Pepper: The controller that will process the data from the Wii Fit Board.
+
+### Software 
+
+The software of the system will consist of the following:
+    - Wiiboard-simple: A library that will be used to transfer data from the Wii Fit Board to pepper.
+    - Position Tracking Algorithm: An algorithm that will process the sensor data and determine the user's position.
+
+### Integration
+
+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: 
+    - 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.
+
+## Implementation
+
+### Prototyping
+
+To start the implementation of the system, we will create a prototype that will read the sensor data from the Wii Fit Board and send it to your computer. Once we have the data, we will develop the position tracking algorithm to determine the user's position. After that, the algorithm will be integrated with pepper.
+
+### Testing and Validation
+
+Tests:
+    - Test the prototype to ensure that it can read the sensor data from the Wii Fit Board.
+    - Test the position tracking algorithm to ensure that it can determine the user's position accurately.
+    - Test the integrated system to ensure that it can track the user's position in real-time.
+
+## Conclusion
+
+To be added
+
+## References
+
+[Wiiboard lib](https://code.google.com/archive/p/wiiboard-simple/wikis/Documentation.wiki)
+
+## Appendices
+
+To be added
\ No newline at end of file

From 552436b993ba9e39017472c900ab7316b9f097df Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 13:38:38 +0200
Subject: [PATCH 17/33] Updated onderzoek-voorbeeld.md and
 motion-tracking-system-analysis.md

---
 .idea/workspace.xml                           | 47 ++++++-------------
 .../motion-tracking-system-analysis.md        | 41 +++++++++++++++-
 .../onderzoek-voorbeeld.md                    |  8 +++-
 3 files changed, 61 insertions(+), 35 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 942574a..8668fe5 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
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\ No newline at end of file
diff --git a/docs/documentation/research-questions/motion-tracking-system-analysis.md b/docs/documentation/research-questions/motion-tracking-system-analysis.md
index 62a4957..c46d3b6 100644
--- a/docs/documentation/research-questions/motion-tracking-system-analysis.md
+++ b/docs/documentation/research-questions/motion-tracking-system-analysis.md
@@ -6,4 +6,43 @@ For our project, we want our users to be able to see the movement they're making
 see whether they're executing the fitness task correctly. For a tracking system as such, we'll need to use quite
 some mathematics.
 
-Our current approach is defining 
\ No newline at end of file
+Our current approach is defining the required path by a set of vertices; points in 3d space.
+These points define along which path the user has to move their limbs to, depending on what the activity is
+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"/>
+
+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
+to be calibrated initially, of course, due to position being relative.
+
+To acquire our measurements, we've chosen for the following configuration for the tracking device:
+
+- ESP8266 (Wi-Fi only)
+- Accelerometer / Gyroscope combination (BNO085)
+
+We've chosen for this configuration due to the fact that it delivers all of our needs, with the smallest form factor,
+whilst also delivering quality measurements.
+This sadly does come at the cost that the ESP8266 does not have a dedicated Bluetooth chip, therefore making
+connectivity to our robot a little more complicated. 
+
+The calculations behind the tracking system will be done in the following steps:
+
+1. Acquire calibration point (zero point)
+2. Convert relative acceleration and rotation to position, relative to the calibration point
+3. Generate a path object that can be compared to the correct one
+4. Calculate the difference of the path at every measurement sample
+
+At first, to get the calibration point, the user will have to stand still for a moment without moving. 
+This can be sensed by the device, which will then be sent to the Pepper robot.
+We've decided to send this data using Wi-Fi using a HTTP WebSocket connection, due to the fact that our
+ESP8266 does not have a Bluetooth chip present, and due to the fact that a WebSocket connection allows us
+for a both fast and secure data transfer.
+
+Second, to convert our relative acceleration rotation to a useful position, we'll have to first convert the 
+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
\ No newline at end of file
diff --git a/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md b/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
index 91a46d8..90bf854 100644
--- a/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
+++ b/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
@@ -30,13 +30,17 @@ naar wat voor factoren er meespelen in de levens van de ouderen die hieraan kunn
 dat hoewel het persoon omringt kan zijn met mensen, hij/zij nog steeds gevoelens van eenzaamheid kan ervaren. De oorzaak van emotionele eenzaamheid verschilt 
 per persoon, en valt niet zo gemakkelijk te verklaren, als te verhelpen. Bij fysieke eenzaamheid is het echter makkelijker om te zien waar het vandaan komt.
 Hierbij kunnen er andere omgevingsfactoren meespelen die ervoor zorgen dat het persoon zich eenzaam voelt, 
-denk hierbij aan het verlies van een partner of vrienden, familieproblematiek of acute verandering van levensstijl. ([1. SCP 2018](#bronnen)).
+denk hierbij aan het verlies van een partner of vrienden, familieproblematiek of acute verandering van levensstijl ([1. SCP 2018](#bronnen)).
 Door dit soort veranderingen kan het zijn dat het persoon in een depressie raakt, wat er weer voor kan zorgen dat het persoon zich eenzaam voelt,
 en dat het persoon zich nog meer terugtrekt van de buitenwereld. Dit is een vicieuze cirkel die moeilijk te doorbreken is.
 Daarom is het belangrijk om te kijken of er ook methoden zijn om hierbij te helpen, zowel binnen als buitenhuis.
 
 Doordat robots de laatste decennia steeds geavanceerder zijn geworden, is het mogelijk om te overwegen deze toe te passen
-in de ouderenzorg om te helpen bij het eenzaamheidsprobleem. 
+in de ouderenzorg om te helpen bij het eenzaamheidsprobleem. Robots worden de afgelopen jaren al steeds meer ingezet om ouderen te helpen
+bij bepaalde dagelijkse problemen, zoals het wassen van ouderen in het bad, of het helpen bij eten consumeren ([3. University of Japan, 2017](#bronnen)).
+Door de verbeteringen van technologie over de afgelopen jaren heeft K.I. ook een drastische verbetering ondergaan. Hierdoor valt er te overwegen
+om deze toe te passen om te helpen met het eenzaamheidsprobleem bij ouderen.
+
 
 ### Op welke manier kunnen we kunstmatige intelligentie inzetten om eenzaamheid onder ouderen te bestrijden?
 

From 92a1c2b6505f7f92f157f4a5fff72edfbcf5bb70 Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Wed, 15 May 2024 13:45:13 +0200
Subject: [PATCH 18/33] Repaired the websocket connector for some reason it
 doesnt wannar in a class

---
 code/arduino/Movement-sensor-code/Connectivity.cpp |  4 ++--
 code/arduino/Movement-sensor-code/Connectivity.h   |  2 +-
 .../Movement-sensor-code/Movement-sensor-code.ino  | 14 +++++++++++---
 3 files changed, 14 insertions(+), 6 deletions(-)

diff --git a/code/arduino/Movement-sensor-code/Connectivity.cpp b/code/arduino/Movement-sensor-code/Connectivity.cpp
index ea3515b..dc24184 100644
--- a/code/arduino/Movement-sensor-code/Connectivity.cpp
+++ b/code/arduino/Movement-sensor-code/Connectivity.cpp
@@ -10,9 +10,9 @@ void Connectivity::connectWiFi(char* ssid, char* pass){
   Serial.println(WiFi.localIP());
 }
 
-void Connectivity::websocketSetup(){
+void Connectivity::websocketSetup(char* ip, uint16_t port, char* adress){
 	//ws server address, port and URL
-	webSocket.begin("192.168.137.1", 8001, "");
+	webSocket.begin(ip , port, adress);
 	// try every 500 again if connection has failed
 	webSocket.setReconnectInterval(500);
 }
diff --git a/code/arduino/Movement-sensor-code/Connectivity.h b/code/arduino/Movement-sensor-code/Connectivity.h
index 624eccd..be2a9a2 100644
--- a/code/arduino/Movement-sensor-code/Connectivity.h
+++ b/code/arduino/Movement-sensor-code/Connectivity.h
@@ -19,7 +19,7 @@
 class Connectivity {
 public:
   void connectWiFi(char* ssid, char* pass);
-  void websocketSetup();
+  void websocketSetup(char* ip, uint16_t port, char* adress);
   void sendData(float roll, float pitch, float yaw);
 
 private:
diff --git a/code/arduino/Movement-sensor-code/Movement-sensor-code.ino b/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
index 28eb441..932d32d 100644
--- a/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
+++ b/code/arduino/Movement-sensor-code/Movement-sensor-code.ino
@@ -5,11 +5,14 @@ SensorManager::Rotation offset;
 void setup() {
   Serial.begin(9600);
   Serial.println("startup");
-  delay(5000);
   
   connectivity.connectWiFi(ssid, pass);
   sensorManager.sensorSetup();
-  connectivity.websocketSetup();
+
+	//ws server address, port and URL
+	webSocket.begin("145.3.245.22", 8001, "");
+	// try every 500 again if connection has failed
+	webSocket.setReconnectInterval(500);
 }
 
 void loop() {
@@ -36,7 +39,7 @@ void loop() {
   Serial.print(pitch);
   Serial.print(" ");
   Serial.print(yaw);
-  connectivity.sendData(roll, pitch, yaw);
+  sendData(roll, pitch, yaw);
 
   Serial.println();
   webSocket.loop();
@@ -52,3 +55,8 @@ void loop() {
 void setZeroPoint() {
   offset = sensorManager.readLoop();
 }
+
+void sendData(float roll, float pitch, float yaw){
+  String message = "{\"Sensor\": 1, \"roll\":\"" + String(roll) + "\",\"pitch\":\"" + String(pitch) + "\",\"yaw\":\"" + String(yaw) + "\"}";
+  webSocket.sendTXT(message);
+}
\ No newline at end of file

From 86a96740e50a38f95568915e8435f42ee408691a Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 15:47:52 +0200
Subject: [PATCH 19/33] Updated onderzoek-voorbeeld.md &
 motion-tracking-system-analysis.md

---
 .../math-expression-acceleration-vector.png      | Bin 0 -> 3607 bytes
 .../assets/motion-path-example-path-error.png    | Bin 0 -> 3762 bytes
 .../assets/motion-path-example-vertices.png      | Bin 0 -> 863 bytes
 .../motion-tracking-system-analysis.md           |   6 ++++--
 .../literatuuronderzoek/onderzoek-voorbeeld.md   |   7 +++++++
 5 files changed, 11 insertions(+), 2 deletions(-)
 create mode 100644 docs/documentation/assets/math-expression-acceleration-vector.png
 create mode 100644 docs/documentation/assets/motion-path-example-path-error.png
 create mode 100644 docs/documentation/assets/motion-path-example-vertices.png

diff --git a/docs/documentation/assets/math-expression-acceleration-vector.png b/docs/documentation/assets/math-expression-acceleration-vector.png
new file mode 100644
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diff --git a/docs/documentation/assets/motion-path-example-vertices.png b/docs/documentation/assets/motion-path-example-vertices.png
new file mode 100644
index 0000000000000000000000000000000000000000..8505cfb6c6c64e12e4a7ddfdbcb8d88d3dd5799d
GIT binary patch
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diff --git a/docs/documentation/research-questions/motion-tracking-system-analysis.md b/docs/documentation/research-questions/motion-tracking-system-analysis.md
index c46d3b6..bef7d99 100644
--- a/docs/documentation/research-questions/motion-tracking-system-analysis.md
+++ b/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
\ No newline at end of file
+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 
\ No newline at end of file
diff --git a/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md b/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
index 90bf854..fb20ae4 100644
--- a/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
+++ b/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md
@@ -44,6 +44,13 @@ om deze toe te passen om te helpen met het eenzaamheidsprobleem bij ouderen.
 
 ### Op welke manier kunnen we kunstmatige intelligentie inzetten om eenzaamheid onder ouderen te bestrijden?
 
+Zoals al eerder was vermeld worden robots al langer gebruikt bij het helpen van ouderen met huishoudelijke taken die voor hen te zwaar zijn.
+Daarom valt het idee ook te overwegen om robots in te zetten om ouderen te helpen met het bestrijden van eenzaamheid. Hiervoor kan er
+gebruik gemaakt worden van kunstmatige intelligentie. Kunstmatige intelligentie kan gebruikt worden om de robot te leren hoe het om moet gaan met 
+de gebruiker, om zowel te horen wat de gebruiker zegt, inhoudelijke reacties te geven op de gebruiker of om de gebruiker te helpen met bepaalde taken als ernaar
+gevraagd wordt. Dit kan ervoor zorgen dat de ouderen zich minder eenzaam voelen, en dat ze zich meer op hun gemak voelen in hun eigen huis.
+
+
 ### Hoe kunnen we ervoor zorgen dat dit gedaan kan worden zonder de privacy van ouderen te schenden?
 
 

From 8224327a0182306949ddb3872d42f4480e19caf1 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 16:29:22 +0200
Subject: [PATCH 20/33] bread

---
 code/src/Fitbot/.idea/misc.xml                |   1 +
 .../PersonalMotionPreviewElement.java         |  40 ++-
 .../example/fitbot/util/path/PathSegment.java | 105 ++-----
 .../com/example/fitbot/util/path/Point3D.java | 258 ------------------
 .../src/main/res/layout/activity_fitness.xml  |  10 +
 5 files changed, 56 insertions(+), 358 deletions(-)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
 create mode 100644 code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml

diff --git a/code/src/Fitbot/.idea/misc.xml b/code/src/Fitbot/.idea/misc.xml
index 135ab11..a67315e 100644
--- a/code/src/Fitbot/.idea/misc.xml
+++ b/code/src/Fitbot/.idea/misc.xml
@@ -22,6 +22,7 @@
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_sport_menu.xml" value="0.1" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/header.xml" value="0.125" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/toolbar.xml" value="0.125" />
+        <entry key="app/src/main/res/layout/activity_fitness.xml" value="0.23550724637681159" />
         <entry key="app/src/main/res/layout/activity_main.xml" value="0.1" />
         <entry key="app/src/main/res/layout/activity_sport_item.xml" value="0.2341485507246377" />
         <entry key="app/src/main/res/layout/activity_sport_menu.xml" value="0.22056159420289856" />
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
index d70c88c..32631ee 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
@@ -2,12 +2,12 @@ package com.example.fitbot.ui.components;
 
 import android.content.Context;
 import android.graphics.Canvas;
+import android.graphics.Paint;
 import android.graphics.Path;
 import android.view.View;
 
 import com.example.fitbot.util.path.GesturePath;
 import com.example.fitbot.util.path.PathSegment;
-import com.example.fitbot.util.path.Point3D;
 import com.example.fitbot.util.processing.MotionData;
 import com.example.fitbot.util.processing.MotionProcessor;
 
@@ -22,6 +22,7 @@ public class PersonalMotionPreviewElement extends View {
     private double pathTime = 0.0D; // The timestamp at which the path is currently at.
     private MotionProcessor motionProcessor;
     private Path referencePath, performingPath;
+    private Paint referencePaint, performingPaint;
 
     /**
      * Constants for the preview path projection.
@@ -45,22 +46,41 @@ public class PersonalMotionPreviewElement extends View {
         this.motionProcessor = new MotionProcessor();
         this.motionProcessor.startListening();
         this.motionProcessor.setMotionDataEventHandler((processed, preprocessed, sampleIndex, sampleRate) -> {
-            // TODO: Implement the calculation of the drawing path
+            // TODO: Implement the calculation of the `performingPath` based on the motion data
         });
 
-        this.referencePath = generatePath()
+        this.referencePath = getDrawablePath(path.getSegments());
         this.performingPath = new Path();
+
+        this.referencePaint = new Paint();
+        this.referencePaint.setColor(-1); // White
+        this.referencePaint.setStyle(Paint.Style.STROKE);
+        this.referencePaint.setStrokeWidth(5.0f);
+        this.performingPaint = new Paint();
+        this.performingPaint.setColor(0xFF0000FF); // Blue
+        this.performingPaint.setStyle(Paint.Style.STROKE);
+        this.performingPaint.setStrokeWidth(5.0f);
     }
 
     /**
      * Method that calculates the path that will be drawn on the
      * canvas. This method will be called every time new motion data is received.
      */
-    private void calculateDrawingPath(Point3D transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
+    private void calculateDrawingPath(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
         // Recalculate the personal path based on the new motion data
 
     }
 
+    /**
+     * Method for setting the gesture path that will be drawn on the canvas.
+     *
+     * @param path The gesture path to draw.
+     */
+    public void setGesturePath(GesturePath path) {
+        this.path = path;
+        this.referencePath = getDrawablePath(path.getSegments());
+    }
+
     /**
      * Method for setting the rotation of the preview path.
      *
@@ -111,17 +131,12 @@ public class PersonalMotionPreviewElement extends View {
      * Method that converts a sequence of vectors to a Path object.
      * This path is a set of bezier curves that will be drawn on the canvas.
      *
-     * @param curvature The curvature of the bezier curves.
-     *                  This number must be between 0 and 1, and it represents
-     *                  by how much the path segments will be curved.
-     *                  A value of 0 represents no curvature at all,
-     *                  while values closer to 1 approach full circular curvature.
      * @param segments  The path segments in the path.
      *                  These segments will be connected by bezier curves, which
      *                  all have unique curvature values.
      * @return The generated path object.
      */
-    private Path getDrawablePath(double curvature, PathSegment... segments) {
+    private Path getDrawablePath(PathSegment... segments) {
 
         Path calculatedPath = new Path();
 
@@ -144,8 +159,7 @@ public class PersonalMotionPreviewElement extends View {
     @Override
     public void onDraw(Canvas canvas) {
         // Draw the sport preview canvas
-
-
-
+        canvas.drawPath(referencePath, referencePaint);
+        canvas.drawPath(performingPath, performingPaint);
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
index 05f58a7..9f0c361 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
@@ -4,11 +4,8 @@ import org.joml.Vector3f;
 
 public class PathSegment {
 
-    private final double curvature;
-    private final Vector3f start, end, normal;
-    private final double horizontalDistance;
+    private final Vector3f start, end;
     private final double distance;
-    private final double vectorAngle; // The angle of the vector from the start to the end point.
 
     /**
      * Constructor for creating a PathSegment of two lines, with the normal vector
@@ -18,48 +15,8 @@ public class PathSegment {
      * @param end The end point of the line segment.
      */
     public PathSegment(Vector3f start, Vector3f end) {
-        this.curvature = 0.0D;
         this.start = start;
         this.end = end;
-        this.horizontalDistance = Math.sqrt(Math.pow(end.x - start.x, 2) + Math.pow(end.z - start.z, 2));
-        this.vectorAngle = Math.atan2(end.y - start.y, horizontalDistance);
-        this.distance = start.distance(end);
-
-        // Normal vector calculation
-        double horizontalAngle = Math.atan2(end.z - start.z, end.x - start.x);
-        double verticalAngle = Math.atan2(end.y - start.y, horizontalDistance);
-        float sinVertical = (float)Math.sin(verticalAngle);
-        float cosVertical = (float)Math.cos(verticalAngle);
-        float sinHorizontal = (float)Math.sin(horizontalAngle);
-        float cosHorizontal = (float)Math.cos(horizontalAngle);
-        // The normal vector faces directly upward relative to the line between start and end.
-        // This means the normal vector is the perpendicular bisecting line from the line segment.
-        this.normal = new Vector3f(
-                sinVertical * cosHorizontal,
-                cosVertical,
-                sinVertical * sinHorizontal
-        );
-    }
-
-    /**
-     * Create a new path segment with a given start and end point.
-     *
-     * @param start     The start point of the path segment.
-     * @param end       The end point of the path segment.
-     *                  A value of 0 will result in the normal vector pointing upwards.
-     * @param normal The normal vector of the path segment.
-     *               This vector determines how the line curves, if it has a positive curvature.
-     * @param curvature The curvature of the path segment.
-     *                  This value is between -1 and 1, and is used to determine the curvature of the path,
-     *                  around the normal vector.
-     */
-    public PathSegment(Vector3f start, Vector3f end, Vector3f normal, double curvature) {
-        this.curvature = curvature;
-        this.start = start;
-        this.end = end;
-        this.horizontalDistance = Math.sqrt(Math.pow(end.x - start.x, 2) + Math.pow(end.z - start.z, 2));
-        this.vectorAngle = Math.atan2(end.y - start.y, horizontalDistance);
-        this.normal = normal;
         this.distance = start.distance(end);
     }
 
@@ -71,40 +28,9 @@ public class PathSegment {
      * @param dst The destination vector to interpolate to.
      * @param t   The interpolation value between 0 and 1.
      */
-    public void interpolate(Vector3f dst, double t) {
-        t = Math.min(1.0D, Math.max(0.0D, t)); // Ensure boundaries
-
-        // If curvature is 0, use linear interpolation.
-        if (this.curvature == 0.0D) {
-            dst.set(start).lerp(end, (float) t);
-        } else {
-            // Interpolate over the ellipse.
-            double angle = t * Math.PI + vectorAngle; // Angle for on the ellipse
-            double cos = Math.cos(angle);
-            double sin = Math.sin(angle);
-
-            double
-
-            // Calculate the ellipse.
-
-
-        }
-    }
-
-    /**
-     * Method for returning the control point of the path segment.
-     * This point is the point that the path segment curves around.
-     *
-     * @return The control point of the path segment.
-     */
-    public Vector3f getControlPoint() {
-        return new Vector3f(
-                (this.start.x + this.end.x) / 2.0F,
-                (this.start.y + this.end.y) / 2.0F,
-                (this.start.z + this.end.z) / 2.0F
-        )
-                .add(this.normal
-                .mul((float) this.curvature * (float) this.distance / 2.0F));
+    public Vector3f interpolate(Vector3f dst, double t) {
+        return new Vector3f(this.start)
+                .lerp(this.end, (float) Math.min(1.0F, Math.max(0.0F, t)));
     }
 
     /**
@@ -117,16 +43,21 @@ public class PathSegment {
      * @return The difference between the vector and the path segment.
      */
     public double difference(Vector3f other) {
-        return 0.0D; // TODO: Implement.
-    }
 
-    /**
-     * Get the curvature of the path segment.
-     *
-     * @return The curvature of the path segment.
-     */
-    public double getVectorAngle() {
-        return this.vectorAngle;
+        if (this.distance == 0)
+            return this.start.distance(other);
+
+        double t = ((other.x - this.start.x) * (this.end.x - this.start.x) +
+                (other.y - this.start.y) * (this.end.y - this.start.y) +
+                (other.z - this.start.z) * (this.end.z - this.start.z)) / distance;
+
+        t = Math.max(0, Math.min(1, t));
+
+        return other.distance(new Vector3f(
+                (float) (this.start.x + t * (this.end.x - this.start.x)),
+                (float) (this.start.y + t * (this.end.y - this.start.y)),
+                (float) (this.start.z + t * (this.end.z - this.start.z))
+                ));
     }
 
     /**
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
deleted file mode 100644
index de14c78..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
+++ /dev/null
@@ -1,258 +0,0 @@
-package com.example.fitbot.util.path;
-
-import java.util.Arrays;
-import java.util.Comparator;
-
-public class Point3D {
-
-    public double x, y, z;
-
-    /**
-     * Constructor for creating a new vector.
-     *
-     * @param x The X component of the vector.
-     * @param y The Y component of the vector.
-     * @param z The Z component of the vector.
-     */
-    public Point3D(double x, double y, double z) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-    }
-
-    /**
-     * Copy the vector.
-     *
-     * @return A new vector with the same values.
-     */
-    public Point3D copy() {
-        return new Point3D(this.x, this.y, this.z);
-    }
-    
-    /**
-     * Get the zero vector.
-     * 
-     * @return The zero vector.
-     */
-    public static Point3D zero() {
-        return new Point3D(0, 0, 0);
-    }
-
-    /**
-     * Get the magnitude of the vector.
-     *
-     * @return The magnitude of the vector.
-     */
-    public double magnitude() {
-        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
-    }
-
-    /**
-     * Normalize the vector.
-     *
-     * @return The normalized vector.
-     */
-    public Point3D normalize() {
-        double mag = this.magnitude();
-        if (mag == 0) throw new IllegalArgumentException("Cannot normalize the zero vector.");
-        return new Point3D(this.x / mag, this.y / mag, this.z / mag);
-    }
-
-    /**
-     * Subtract the vector from another vector.
-     *
-     * @param other The other vector to subtract.
-     * @return The new vector.
-     */
-    public Point3D subtract(Point3D other) {
-        return new Point3D(this.x - other.x, this.y - other.y, this.z - other.z);
-    }
-
-    /**
-     * Add the vector to another vector.
-     *
-     * @param other The other vector to add.
-     * @return The new vector.
-     */
-    public Point3D add(Point3D other) {
-        return new Point3D(this.x + other.x, this.y + other.y, this.z + other.z);
-    }
-
-    /**
-     * Multiply the vector by a scalar.
-     *
-     * @param scalar The scalar to multiply by.
-     * @return The multiplied vector.
-     */
-    public Point3D multiply(double scalar) {
-        return new Point3D(this.x * scalar, this.y * scalar, this.z * scalar);
-    }
-
-    /**
-     * Divide the vector by a scalar.
-     *
-     * @param scalar The scalar to divide by.
-     * @return The divided vector.
-     */
-    public Point3D divide(double scalar) {
-        if (scalar == 0) throw new IllegalArgumentException("Cannot divide by zero.");
-        return new Point3D(this.x / scalar, this.y / scalar, this.z / scalar);
-    }
-
-    /**
-     * Negate the vector.
-     *
-     * @return The negated vector.
-     */
-    public Point3D negate() {
-        return new Point3D(-this.x, -this.y, -this.z);
-    }
-
-    /**
-     * Rotate the vector around the X, Y, and Z axes.
-     *
-     * @param radX Rotation around the X axis in radians.
-     * @param radY Rotation around the Y axis in radians.
-     * @param radZ Rotation around the Z axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotate(double radX, double radY, double radZ) {
-        double cosX = Math.cos(radX);
-        double cosY = Math.cos(radY);
-        double cosZ = Math.cos(radZ);
-        double sinX = Math.sin(radX);
-        double sinY = Math.sin(radY);
-        double sinZ = Math.sin(radZ);
-        double newX = x * cosY * cosZ + y * cosY * sinZ - z * sinY;
-        double newY = x * (sinX * sinY * cosZ - cosX * sinZ) + y * (sinX * sinY * sinZ + cosX * cosZ) + z * sinX * cosY;
-        double newZ = x * (cosX * sinY * cosZ + sinX * sinZ) + y * (cosX * sinY * sinZ - sinX * cosZ) + z * cosX * cosY;
-        return new Point3D(newX, newY, newZ);
-    }
-
-    /**
-     * Rotate the vector around the X, Y, and Z axes.
-     *
-     * @param rotation The rotation vector.
-     * @return The rotated vector.
-     */
-    public Point3D rotate(Point3D rotation) {
-        return rotate(rotation.x, rotation.y, rotation.z);
-    }
-
-    /**
-     * Rotate the vector around the X axis.
-     *
-     * @param angle Rotation around the X axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateX(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x,
-                y * cosTheta - z * sinTheta,
-                y * sinTheta + z * cosTheta
-        );
-    }
-
-    /**
-     * Rotate the vector around the Y axis.
-     *
-     * @param angle Rotation around the Y axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateY(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x * cosTheta + z * sinTheta,
-                y,
-                -x * sinTheta + z * cosTheta
-        );
-    }
-
-    /**
-     * Rotate the vector around the Z axis.
-     *
-     * @param angle Rotation around the Z axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateZ(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x * cosTheta - y * sinTheta,
-                x * sinTheta + y * cosTheta,
-                z
-        );
-    }
-
-    /**
-     * Get the squared distance between this vector and another vector.
-     *
-     * @param compare The other vector.
-     * @return The squared distance between the two vectors.
-     */
-    public double distanceSq(Point3D compare) {
-        return Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2);
-    }
-
-    /**
-     * Get the distance between this vector and another vector.
-     *
-     * @param compare The other vector.
-     * @return The distance between the two vectors.
-     */
-    public double distance(Point3D compare) {
-        return Math.sqrt(distanceSq(compare));
-    }
-
-    /**
-     * Calculate the distance to a line defined by two points.
-     *
-     * @param lineStart The starting point of the line.
-     * @param lineEnd The ending point of the line.
-     * @return The distance to the line.
-     */
-    public double distanceToLine(Point3D lineStart, Point3D lineEnd) {
-        double lineDistance = lineStart.distanceSq(lineEnd);
-        if (lineDistance == 0)
-            return this.distanceSq(lineStart);
-
-        double t = ((this.x - lineStart.x) * (lineEnd.x - lineStart.x) +
-                (this.y - lineStart.y) * (lineEnd.y - lineStart.y) +
-                (this.z - lineStart.z) * (lineEnd.z - lineStart.z)) / lineDistance;
-
-        t = Math.max(0, Math.min(1, t));
-
-        return this.distanceSq(new Point3D(
-                lineStart.x + t * (lineEnd.x - lineStart.x),
-                lineStart.y + t * (lineEnd.y - lineStart.y),
-                lineStart.z + t * (lineEnd.z - lineStart.z))
-        );
-    }
-
-    /**
-     * Retrieve the closest vector to this one given a list of vectors.
-     *
-     * @param vectors The list of vectors to compare.
-     * @return The closest vector.
-     */
-    public Point3D closest(Point3D... vectors) {
-        return Arrays.stream(vectors).min(Comparator.comparingDouble(this::distanceSq)).orElse(null);
-    }
-
-    public Point3D map(VectorMapFunction function) {
-        return function.apply(this);
-    }
-
-    public interface VectorMapFunction {
-        Point3D apply(Point3D vector);
-    }
-
-    @Override
-    public String toString()
-    {
-        return "Vector3(" + this.x + ", " + this.y + ", " + this.z + ")";
-    }
-}
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml b/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml
new file mode 100644
index 0000000..35990c8
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <com.example.fitbot.ui.components.PersonalMotionPreviewElement
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+</android.support.constraint.ConstraintLayout>
\ No newline at end of file

From 606a05aa13d61c0346c54755717f164b08d5f836 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 01:10:51 +0200
Subject: [PATCH 21/33] Updated path math, started with 3d path to 2d screen
 space projection

---
 code/src/Fitbot/app/build.gradle              |   1 +
 .../PersonalMotionPreviewElement.java         | 132 +++++++++++--
 .../example/fitbot/util/path/GesturePath.java | 124 +++++++++++++
 .../example/fitbot/util/path/PathSegment.java | 175 ++++++++++++++++++
 .../Vector3.java => path/Point3D.java}        |  70 +++----
 .../fitbot/util/processing/GesturePath.java   | 104 -----------
 .../fitbot/util/processing/MotionData.java    |  24 +--
 .../util/processing/MotionProcessor.java      |  35 ++--
 8 files changed, 488 insertions(+), 177 deletions(-)
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
 rename code/src/Fitbot/app/src/main/java/com/example/fitbot/util/{processing/Vector3.java => path/Point3D.java} (78%)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java

diff --git a/code/src/Fitbot/app/build.gradle b/code/src/Fitbot/app/build.gradle
index 38cf8be..f3a2fea 100644
--- a/code/src/Fitbot/app/build.gradle
+++ b/code/src/Fitbot/app/build.gradle
@@ -34,6 +34,7 @@ dependencies {
     implementation 'com.android.support.constraint:constraint-layout:2.0.4'
     implementation 'com.android.support:cardview-v7:28.0.0'
     implementation 'com.android.support:design:28.0.0'
+    implementation 'org.joml:joml:1.10.5'
     testImplementation 'junit:junit:4.13.2'
     androidTestImplementation 'com.android.support.test:runner:1.0.2'
     androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.2'
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
index b5161d8..d70c88c 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
@@ -5,39 +5,147 @@ import android.graphics.Canvas;
 import android.graphics.Path;
 import android.view.View;
 
-import com.example.fitbot.util.processing.GesturePath;
+import com.example.fitbot.util.path.GesturePath;
+import com.example.fitbot.util.path.PathSegment;
+import com.example.fitbot.util.path.Point3D;
 import com.example.fitbot.util.processing.MotionData;
 import com.example.fitbot.util.processing.MotionProcessor;
-import com.example.fitbot.util.processing.Vector3;
+
+import org.joml.Matrix4f;
+import org.joml.Vector2f;
+import org.joml.Vector3f;
+import org.joml.Vector4f;
 
 public class PersonalMotionPreviewElement extends View {
 
     private GesturePath path;
     private double pathTime = 0.0D; // The timestamp at which the path is currently at.
     private MotionProcessor motionProcessor;
-    private Path targetPath, personalPath;
+    private Path referencePath, performingPath;
 
     /**
-     * Method that calculates the path that will be drawn on the
-     * canvas. This method will be called every time new motion data is received.
+     * Constants for the preview path projection.
      */
-    private void calculateDrawingPath(Vector3 transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
-
-    }
-
+    private final float FOV = 70.0f;     // The field of view of the preview path
+    private final float Z_NEAR = 0.1f;   // The near clipping plane
+    private final float Z_FAR = 1000.0f; // The far clipping plane
+    private Vector3f cameraPosition = new Vector3f(0.0f, 0.0f, 0.0f); // The position of the camera
+    private Vector2f screenDimensions = new Vector2f(); // Width and height dimensions of the screen
+    private Vector2f rotation = new Vector2f(); // Rotation vector (yaw, pitch)
 
+    /**
+     * Constructor for the PersonalMotionPreviewElement class.
+     *
+     * @param context The context in which this element is created.
+     * @param path    The gesture path that will be drawn on the canvas.
+     */
     public PersonalMotionPreviewElement(Context context, GesturePath path) {
         super(context);
         this.path = path;
         this.motionProcessor = new MotionProcessor();
         this.motionProcessor.startListening();
-        this.motionProcessor.setMotionDataEventHandler(this::calculateDrawingPath);
-        this.targetPath = new Path();
-        this.personalPath = new Path();
+        this.motionProcessor.setMotionDataEventHandler((processed, preprocessed, sampleIndex, sampleRate) -> {
+            // TODO: Implement the calculation of the drawing path
+        });
+
+        this.referencePath = generatePath()
+        this.performingPath = new Path();
     }
 
+    /**
+     * Method that calculates the path that will be drawn on the
+     * canvas. This method will be called every time new motion data is received.
+     */
+    private void calculateDrawingPath(Point3D transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
+        // Recalculate the personal path based on the new motion data
+
+    }
+
+    /**
+     * Method for setting the rotation of the preview path.
+     *
+     * @param yaw The yaw rotation of the preview path.
+     * @param pitch The pitch rotation of the preview path.
+     */
+    public void setRotation(float yaw, float pitch) {
+        this.rotation.set(Math.toRadians(yaw), Math.toRadians(pitch));
+    }
+
+    /**
+     *  Method for projecting a 3D point onto the screen.
+     *  This method converts the 3D point to 2D space using a Model-View-Projection matrix transformation.
+     *
+     * @param point The point to cast to the screen.
+     * @param virtualWidth The width of the virtual screen.
+     *                     This is used to normalize the screen coordinates.
+     * @param virtualHeight The height of the virtual screen.
+     * @return The transformed vector in screen coordinates ranging from (0, 0) to (virtualWidth, virtualHeight).
+     */
+    private Vector2f projectVertex(Vector3f point, int virtualWidth, int virtualHeight) {
+
+        Matrix4f modelViewMatrix = new Matrix4f()
+                .rotateX((float) Math.toRadians(rotation.x))
+                .rotateY((float) Math.toRadians(rotation.y))
+                .translate(cameraPosition);
+
+        Matrix4f projectionMatrix = new Matrix4f()
+                .perspective((float) Math.toRadians(FOV), (float) virtualWidth / virtualHeight, Z_NEAR, Z_FAR);
+
+        // Calculate Model-View-Projection matrix
+        Matrix4f MVP = new Matrix4f()
+                .set(projectionMatrix)
+                .mul(modelViewMatrix);
+
+        // Convert to screen coordinates
+        Vector4f screenCoordinates = new Vector4f(point, 1.0f)
+                .mul(MVP);
+
+        // Normalize screen coordinates from (-1, 1) to (0, virtualWidth) and (0, virtualHeight)
+        float normalizedX = (screenCoordinates.x / screenCoordinates.w + 1.0f) * 0.5f * virtualWidth;
+        float normalizedY = (1.0f - screenCoordinates.y / screenCoordinates.w) * 0.5f * virtualHeight;
+
+        return new Vector2f(normalizedX, normalizedY);
+    }
+
+    /**
+     * Method that converts a sequence of vectors to a Path object.
+     * This path is a set of bezier curves that will be drawn on the canvas.
+     *
+     * @param curvature The curvature of the bezier curves.
+     *                  This number must be between 0 and 1, and it represents
+     *                  by how much the path segments will be curved.
+     *                  A value of 0 represents no curvature at all,
+     *                  while values closer to 1 approach full circular curvature.
+     * @param segments  The path segments in the path.
+     *                  These segments will be connected by bezier curves, which
+     *                  all have unique curvature values.
+     * @return The generated path object.
+     */
+    private Path getDrawablePath(double curvature, PathSegment... segments) {
+
+        Path calculatedPath = new Path();
+
+        // Starting point
+        Vector2f origin = projectVertex(segments[0].getStart(), getWidth(), getHeight());
+        calculatedPath.moveTo(origin.x, origin.y);
+
+        // Draw the path segments
+        for (PathSegment segment : segments) {
+            Vector2f startProjected = projectVertex(segment.getStart(), getWidth()/2, getHeight());
+            Vector2f endProjected = projectVertex(segment.getEnd(), getWidth()/2, getHeight());
+            calculatedPath.lineTo(startProjected.x, startProjected.y);
+            calculatedPath.lineTo(endProjected.x, endProjected.y);
+        }
+
+        return calculatedPath;
+    }
+
+
     @Override
     public void onDraw(Canvas canvas) {
         // Draw the sport preview canvas
+
+
+
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
new file mode 100644
index 0000000..5507c71
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
@@ -0,0 +1,124 @@
+package com.example.fitbot.util.path;
+
+import org.joml.Vector3f;
+
+import java.util.ArrayList;
+import java.util.Arrays;
+import java.util.List;
+
+public class GesturePath {
+
+    // The vectors that make up the path.
+    private final PathSegment[] segments;
+    private double curvature;
+
+    public GesturePath(Vector3f[] vectors) {
+        this(vectors, 0.0D);
+    }
+
+    /**
+     * Create a new gesture path with a given set of vectors and curvature.
+     *
+     * @param vectors The vectors that make up the path.
+     * @param curvature The curvature of the path.
+     */
+    public GesturePath(Vector3f[] vectors, double curvature)
+    {
+        if ( vectors.length < 2)
+            throw new IllegalArgumentException("A path must have at least two points.");
+
+        this.curvature = curvature;
+        this.segments = new PathSegment[vectors.length - 1];
+        for ( int i = 0; i < vectors.length - 1; i++)
+            segments[i] = new PathSegment(vectors[i], vectors[i + 1]);
+    }
+
+    /**
+     * Constructor for a GesturePath with provided PathSegments.
+     * @param segments The PathSegments to initialize the path with.
+     */
+    public GesturePath(PathSegment... segments) {
+        this.segments = segments;
+        this.curvature = 0.0d;
+    }
+
+    /**
+     * Getter method for retrieving the path segments of this GesturePath.
+     *
+     * @return The path segments.
+     */
+    public PathSegment[] getSegments() {
+        return segments;
+    }
+
+    /**
+     * Method for retrieving the closest path segment to a reference point.
+     *
+     * @param reference The reference point to find the closest path segment to.
+     * @return The closest path segment to the reference point.
+     */
+    public PathSegment closest(Vector3f reference) {
+        // If there's only one segment, return that one.
+        if ( segments.length == 1)
+            return segments[0];
+
+        return Arrays
+                .stream(segments)
+                .reduce(segments[0], (a, b) -> PathSegment.closer(a, b, reference));
+    }
+
+    /**
+     * Get the error between an arbitrary path segment and the reference point.
+     *
+     * @param referencePoint The reference point to calculate the error of.
+     * @return The error offset between the path and the reference point.
+     */
+    public double getError(Vector3f referencePoint) {
+        return closest(referencePoint).difference(referencePoint); // Get the closest segment and calculate the error.
+    }
+
+    // Builder class for the GesturePath object.
+    public static class Builder {
+
+        // List of vectors to add to the GesturePath object.
+        private final List<Vector3f> vectors;
+
+        /**
+         * Constructor for the Builder object.
+         *
+         * @param vectors The list of vectors to add.
+         */
+        public Builder(List<Vector3f> vectors) {
+            this.vectors = vectors;
+        }
+
+        /**
+         * Default constructor for the Builder object.
+         */
+        public Builder() {
+            this.vectors = new ArrayList<>();
+        }
+
+        /**
+         * Adds a vector to the GesturePath object.
+         *
+         * @param vector The vector to add.
+         * @return The Builder object.
+         */
+        public Builder addVector(Vector3f vector) {
+            vectors.add(vector);
+            return this;
+        }
+
+        /**
+         * Builds the GesturePath object.
+         *
+         * @return The GesturePath object.
+         */
+        public GesturePath build() {
+            return new GesturePath(vectors.toArray(new Vector3f[0]));
+        }
+
+    }
+
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
new file mode 100644
index 0000000..05f58a7
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
@@ -0,0 +1,175 @@
+package com.example.fitbot.util.path;
+
+import org.joml.Vector3f;
+
+public class PathSegment {
+
+    private final double curvature;
+    private final Vector3f start, end, normal;
+    private final double horizontalDistance;
+    private final double distance;
+    private final double vectorAngle; // The angle of the vector from the start to the end point.
+
+    /**
+     * Constructor for creating a PathSegment of two lines, with the normal vector
+     * pointing straight upwards relative to the line, with a curvature of 0.0.
+     *
+     * @param start The starting point of the line segment
+     * @param end The end point of the line segment.
+     */
+    public PathSegment(Vector3f start, Vector3f end) {
+        this.curvature = 0.0D;
+        this.start = start;
+        this.end = end;
+        this.horizontalDistance = Math.sqrt(Math.pow(end.x - start.x, 2) + Math.pow(end.z - start.z, 2));
+        this.vectorAngle = Math.atan2(end.y - start.y, horizontalDistance);
+        this.distance = start.distance(end);
+
+        // Normal vector calculation
+        double horizontalAngle = Math.atan2(end.z - start.z, end.x - start.x);
+        double verticalAngle = Math.atan2(end.y - start.y, horizontalDistance);
+        float sinVertical = (float)Math.sin(verticalAngle);
+        float cosVertical = (float)Math.cos(verticalAngle);
+        float sinHorizontal = (float)Math.sin(horizontalAngle);
+        float cosHorizontal = (float)Math.cos(horizontalAngle);
+        // The normal vector faces directly upward relative to the line between start and end.
+        // This means the normal vector is the perpendicular bisecting line from the line segment.
+        this.normal = new Vector3f(
+                sinVertical * cosHorizontal,
+                cosVertical,
+                sinVertical * sinHorizontal
+        );
+    }
+
+    /**
+     * Create a new path segment with a given start and end point.
+     *
+     * @param start     The start point of the path segment.
+     * @param end       The end point of the path segment.
+     *                  A value of 0 will result in the normal vector pointing upwards.
+     * @param normal The normal vector of the path segment.
+     *               This vector determines how the line curves, if it has a positive curvature.
+     * @param curvature The curvature of the path segment.
+     *                  This value is between -1 and 1, and is used to determine the curvature of the path,
+     *                  around the normal vector.
+     */
+    public PathSegment(Vector3f start, Vector3f end, Vector3f normal, double curvature) {
+        this.curvature = curvature;
+        this.start = start;
+        this.end = end;
+        this.horizontalDistance = Math.sqrt(Math.pow(end.x - start.x, 2) + Math.pow(end.z - start.z, 2));
+        this.vectorAngle = Math.atan2(end.y - start.y, horizontalDistance);
+        this.normal = normal;
+        this.distance = start.distance(end);
+    }
+
+    /**
+     * Method that interpolates between the start and end points of the path segment,
+     * depending on the curvature of the curve. If the curvature is unset, or set to 0
+     * then this method will use linear interpolation. Otherwise, it will use a curve.
+     *
+     * @param dst The destination vector to interpolate to.
+     * @param t   The interpolation value between 0 and 1.
+     */
+    public void interpolate(Vector3f dst, double t) {
+        t = Math.min(1.0D, Math.max(0.0D, t)); // Ensure boundaries
+
+        // If curvature is 0, use linear interpolation.
+        if (this.curvature == 0.0D) {
+            dst.set(start).lerp(end, (float) t);
+        } else {
+            // Interpolate over the ellipse.
+            double angle = t * Math.PI + vectorAngle; // Angle for on the ellipse
+            double cos = Math.cos(angle);
+            double sin = Math.sin(angle);
+
+            double
+
+            // Calculate the ellipse.
+
+
+        }
+    }
+
+    /**
+     * Method for returning the control point of the path segment.
+     * This point is the point that the path segment curves around.
+     *
+     * @return The control point of the path segment.
+     */
+    public Vector3f getControlPoint() {
+        return new Vector3f(
+                (this.start.x + this.end.x) / 2.0F,
+                (this.start.y + this.end.y) / 2.0F,
+                (this.start.z + this.end.z) / 2.0F
+        )
+                .add(this.normal
+                .mul((float) this.curvature * (float) this.distance / 2.0F));
+    }
+
+    /**
+     * Method for calculating the difference between the provided vector and the
+     * path segment, depending on the normal vector and the curvature.
+     * If the provided vector does not lie on the path segment, this method will return
+     * the linear distance to the path.
+     *
+     * @param other The vector to calculate the difference to.
+     * @return The difference between the vector and the path segment.
+     */
+    public double difference(Vector3f other) {
+        return 0.0D; // TODO: Implement.
+    }
+
+    /**
+     * Get the curvature of the path segment.
+     *
+     * @return The curvature of the path segment.
+     */
+    public double getVectorAngle() {
+        return this.vectorAngle;
+    }
+
+    /**
+     * Get the normal vector of the path segment.
+     *
+     * @return The normal vector of the path segment.
+     */
+    public Vector3f getStart() {
+        return start;
+    }
+
+    /**
+     * Get the end point of the path segment.
+     *
+     * @return The end point of the path segment.
+     */
+    public Vector3f getEnd() {
+        return end;
+    }
+
+    /**
+     * Method for returning the distance to the closest point on the path segment.
+     *
+     * @param reference The reference point to calculate the distance to.
+     * @return The distance to the closest point on the path segment.
+     */
+    public double distance(Vector3f reference) {
+        if ( this.start.distanceSquared(reference) > this.end.distanceSquared(reference))
+            return this.end.distance(reference);
+        return this.start.distance(reference);
+    }
+
+    /**
+     * Function for returning the closest path segment to a reference point.
+     *
+     * @param first The first path segment to compare.
+     * @param second The second path segment to compare.
+     * @param referencePoint The reference point to compare to.
+     * @return The closest path segment to the reference point.
+     */
+    public static PathSegment closer(PathSegment first, PathSegment second, Vector3f referencePoint) {
+        if (first.distance(referencePoint) < second.distance(referencePoint))
+            return first;
+        return second;
+    }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
similarity index 78%
rename from code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
rename to code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
index 47c251c..de14c78 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/Vector3.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
@@ -1,9 +1,9 @@
-package com.example.fitbot.util.processing;
+package com.example.fitbot.util.path;
 
 import java.util.Arrays;
 import java.util.Comparator;
 
-public class Vector3 {
+public class Point3D {
 
     public double x, y, z;
 
@@ -14,7 +14,7 @@ public class Vector3 {
      * @param y The Y component of the vector.
      * @param z The Z component of the vector.
      */
-    public Vector3(double x, double y, double z) {
+    public Point3D(double x, double y, double z) {
         this.x = x;
         this.y = y;
         this.z = z;
@@ -25,8 +25,8 @@ public class Vector3 {
      *
      * @return A new vector with the same values.
      */
-    public Vector3 copy() {
-        return new Vector3(this.x, this.y, this.z);
+    public Point3D copy() {
+        return new Point3D(this.x, this.y, this.z);
     }
     
     /**
@@ -34,8 +34,8 @@ public class Vector3 {
      * 
      * @return The zero vector.
      */
-    public static Vector3 zero() {
-        return new Vector3(0, 0, 0);
+    public static Point3D zero() {
+        return new Point3D(0, 0, 0);
     }
 
     /**
@@ -52,10 +52,10 @@ public class Vector3 {
      *
      * @return The normalized vector.
      */
-    public Vector3 normalize() {
+    public Point3D normalize() {
         double mag = this.magnitude();
         if (mag == 0) throw new IllegalArgumentException("Cannot normalize the zero vector.");
-        return new Vector3(this.x / mag, this.y / mag, this.z / mag);
+        return new Point3D(this.x / mag, this.y / mag, this.z / mag);
     }
 
     /**
@@ -64,8 +64,8 @@ public class Vector3 {
      * @param other The other vector to subtract.
      * @return The new vector.
      */
-    public Vector3 subtract(Vector3 other) {
-        return new Vector3(this.x - other.x, this.y - other.y, this.z - other.z);
+    public Point3D subtract(Point3D other) {
+        return new Point3D(this.x - other.x, this.y - other.y, this.z - other.z);
     }
 
     /**
@@ -74,8 +74,8 @@ public class Vector3 {
      * @param other The other vector to add.
      * @return The new vector.
      */
-    public Vector3 add(Vector3 other) {
-        return new Vector3(this.x + other.x, this.y + other.y, this.z + other.z);
+    public Point3D add(Point3D other) {
+        return new Point3D(this.x + other.x, this.y + other.y, this.z + other.z);
     }
 
     /**
@@ -84,8 +84,8 @@ public class Vector3 {
      * @param scalar The scalar to multiply by.
      * @return The multiplied vector.
      */
-    public Vector3 multiply(double scalar) {
-        return new Vector3(this.x * scalar, this.y * scalar, this.z * scalar);
+    public Point3D multiply(double scalar) {
+        return new Point3D(this.x * scalar, this.y * scalar, this.z * scalar);
     }
 
     /**
@@ -94,9 +94,9 @@ public class Vector3 {
      * @param scalar The scalar to divide by.
      * @return The divided vector.
      */
-    public Vector3 divide(double scalar) {
+    public Point3D divide(double scalar) {
         if (scalar == 0) throw new IllegalArgumentException("Cannot divide by zero.");
-        return new Vector3(this.x / scalar, this.y / scalar, this.z / scalar);
+        return new Point3D(this.x / scalar, this.y / scalar, this.z / scalar);
     }
 
     /**
@@ -104,8 +104,8 @@ public class Vector3 {
      *
      * @return The negated vector.
      */
-    public Vector3 negate() {
-        return new Vector3(-this.x, -this.y, -this.z);
+    public Point3D negate() {
+        return new Point3D(-this.x, -this.y, -this.z);
     }
 
     /**
@@ -116,7 +116,7 @@ public class Vector3 {
      * @param radZ Rotation around the Z axis in radians.
      * @return The rotated vector.
      */
-    public Vector3 rotate(double radX, double radY, double radZ) {
+    public Point3D rotate(double radX, double radY, double radZ) {
         double cosX = Math.cos(radX);
         double cosY = Math.cos(radY);
         double cosZ = Math.cos(radZ);
@@ -126,7 +126,7 @@ public class Vector3 {
         double newX = x * cosY * cosZ + y * cosY * sinZ - z * sinY;
         double newY = x * (sinX * sinY * cosZ - cosX * sinZ) + y * (sinX * sinY * sinZ + cosX * cosZ) + z * sinX * cosY;
         double newZ = x * (cosX * sinY * cosZ + sinX * sinZ) + y * (cosX * sinY * sinZ - sinX * cosZ) + z * cosX * cosY;
-        return new Vector3(newX, newY, newZ);
+        return new Point3D(newX, newY, newZ);
     }
 
     /**
@@ -135,7 +135,7 @@ public class Vector3 {
      * @param rotation The rotation vector.
      * @return The rotated vector.
      */
-    public Vector3 rotate(Vector3 rotation) {
+    public Point3D rotate(Point3D rotation) {
         return rotate(rotation.x, rotation.y, rotation.z);
     }
 
@@ -145,10 +145,10 @@ public class Vector3 {
      * @param angle Rotation around the X axis in radians.
      * @return The rotated vector.
      */
-    public Vector3 rotateX(double angle) {
+    public Point3D rotateX(double angle) {
         double sinTheta = Math.sin(angle);
         double cosTheta = Math.cos(angle);
-        return new Vector3(
+        return new Point3D(
                 x,
                 y * cosTheta - z * sinTheta,
                 y * sinTheta + z * cosTheta
@@ -161,10 +161,10 @@ public class Vector3 {
      * @param angle Rotation around the Y axis in radians.
      * @return The rotated vector.
      */
-    public Vector3 rotateY(double angle) {
+    public Point3D rotateY(double angle) {
         double sinTheta = Math.sin(angle);
         double cosTheta = Math.cos(angle);
-        return new Vector3(
+        return new Point3D(
                 x * cosTheta + z * sinTheta,
                 y,
                 -x * sinTheta + z * cosTheta
@@ -177,10 +177,10 @@ public class Vector3 {
      * @param angle Rotation around the Z axis in radians.
      * @return The rotated vector.
      */
-    public Vector3 rotateZ(double angle) {
+    public Point3D rotateZ(double angle) {
         double sinTheta = Math.sin(angle);
         double cosTheta = Math.cos(angle);
-        return new Vector3(
+        return new Point3D(
                 x * cosTheta - y * sinTheta,
                 x * sinTheta + y * cosTheta,
                 z
@@ -193,7 +193,7 @@ public class Vector3 {
      * @param compare The other vector.
      * @return The squared distance between the two vectors.
      */
-    public double distanceSq(Vector3 compare) {
+    public double distanceSq(Point3D compare) {
         return Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2);
     }
 
@@ -203,7 +203,7 @@ public class Vector3 {
      * @param compare The other vector.
      * @return The distance between the two vectors.
      */
-    public double distance(Vector3 compare) {
+    public double distance(Point3D compare) {
         return Math.sqrt(distanceSq(compare));
     }
 
@@ -214,7 +214,7 @@ public class Vector3 {
      * @param lineEnd The ending point of the line.
      * @return The distance to the line.
      */
-    public double distanceToLine(Vector3 lineStart, Vector3 lineEnd) {
+    public double distanceToLine(Point3D lineStart, Point3D lineEnd) {
         double lineDistance = lineStart.distanceSq(lineEnd);
         if (lineDistance == 0)
             return this.distanceSq(lineStart);
@@ -225,7 +225,7 @@ public class Vector3 {
 
         t = Math.max(0, Math.min(1, t));
 
-        return this.distanceSq(new Vector3(
+        return this.distanceSq(new Point3D(
                 lineStart.x + t * (lineEnd.x - lineStart.x),
                 lineStart.y + t * (lineEnd.y - lineStart.y),
                 lineStart.z + t * (lineEnd.z - lineStart.z))
@@ -238,16 +238,16 @@ public class Vector3 {
      * @param vectors The list of vectors to compare.
      * @return The closest vector.
      */
-    public Vector3 closest(Vector3 ... vectors) {
+    public Point3D closest(Point3D... vectors) {
         return Arrays.stream(vectors).min(Comparator.comparingDouble(this::distanceSq)).orElse(null);
     }
 
-    public Vector3 map(VectorMapFunction function) {
+    public Point3D map(VectorMapFunction function) {
         return function.apply(this);
     }
 
     public interface VectorMapFunction {
-        Vector3 apply(Vector3 vector);
+        Point3D apply(Point3D vector);
     }
 
     @Override
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
deleted file mode 100644
index 451de9d..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/GesturePath.java
+++ /dev/null
@@ -1,104 +0,0 @@
-package com.example.fitbot.util.processing;
-
-import java.util.ArrayList;
-import java.util.List;
-
-public class GesturePath {
-
-    // The vectors that make up the path.
-    private final Vector3[] vectors;
-
-    public GesturePath(Vector3[] vectors) {
-        this.vectors = vectors;
-    }
-
-    /**
-     * Get the error between an arbitrary path segment and the reference point.
-     *
-     * @param referencePoint The reference point to calculate the error of.
-     * @return The error offset between the path and the reference point.
-     */
-    public double getError(Vector3 referencePoint) {
-        // If there are no vectors, return 0.
-        if ( vectors.length == 0)
-            return 0;
-
-        // If there's only one vector, return the distance to that vector.
-        if ( vectors.length == 1)
-            return vectors[0].distance(referencePoint);
-
-        double distance = Double.MAX_VALUE;
-        double currentDistSq, nextDistSq;
-        int closestVectorIdx = 0;
-
-        // Acquire two closest points to the reference point.
-        for ( int i = 0; i < vectors.length - 1; i++) {
-            currentDistSq = vectors[i].distanceSq(referencePoint);
-            nextDistSq = vectors[i + 1].distanceSq(referencePoint);
-
-            if ( currentDistSq < distance) {
-                distance = currentDistSq;
-                closestVectorIdx = i;
-            } else if ( nextDistSq < distance) {
-                distance = nextDistSq;
-                closestVectorIdx = i + 1;
-                i++; // Skip the next iteration; this point is already closer.
-            }
-        }
-
-        // Calculate the error between the two closest points.
-        Vector3 pointB = (closestVectorIdx == vectors.length - 1) ?
-                vectors[closestVectorIdx - 1] : // If the closest point is the last point, use the 1 to last one
-                (closestVectorIdx > 0 && // Find the closer point between the surrounding points.
-                        (vectors[closestVectorIdx - 1].distanceSq(referencePoint) < vectors[closestVectorIdx + 1].distanceSq(referencePoint))) ?
-                        vectors[closestVectorIdx - 1] :
-                        vectors[closestVectorIdx + 1];
-
-        return referencePoint.distanceToLine(vectors[closestVectorIdx], pointB);
-    }
-
-    // Builder class for the GesturePath object.
-    public static class Builder {
-
-        // List of vectors to add to the GesturePath object.
-        private final List<Vector3> vectors;
-
-        /**
-         * Constructor for the Builder object.
-         *
-         * @param vectors The list of vectors to add.
-         */
-        public Builder(List<Vector3> vectors) {
-            this.vectors = vectors;
-        }
-
-        /**
-         * Default constructor for the Builder object.
-         */
-        public Builder() {
-            this.vectors = new ArrayList<>();
-        }
-
-        /**
-         * Adds a vector to the GesturePath object.
-         *
-         * @param vector The vector to add.
-         * @return The Builder object.
-         */
-        public Builder addVector(Vector3 vector) {
-            vectors.add(vector);
-            return this;
-        }
-
-        /**
-         * Builds the GesturePath object.
-         *
-         * @return The GesturePath object.
-         */
-        public GesturePath build() {
-            return new GesturePath(vectors.toArray(new Vector3[0]));
-        }
-
-    }
-
-}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
index 2c10030..37e016f 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionData.java
@@ -1,11 +1,13 @@
 package com.example.fitbot.util.processing;
 
+import org.joml.Vector3f;
+
 import java.util.Objects;
 
 public class MotionData {
 
     // Data of the motion sensor
-    public Vector3 acceleration, rotation;
+    public Vector3f acceleration, rotation;
 
     // Delimiter for the data received from the motion sensor
     private static final String DATA_DELIMITER = ";";
@@ -20,9 +22,9 @@ public class MotionData {
      * @param rotationY     The rotation in the Y axis in degrees.
      * @param rotationZ     The rotation in the Z axis in degrees.
      */
-    public MotionData(double accelerationX, double accelerationY, double accelerationZ, double rotationX, double rotationY, double rotationZ) {
-        this.acceleration = new Vector3(accelerationX, accelerationY, accelerationZ);
-        this.rotation = new Vector3(rotationX, rotationY, rotationZ);
+    public MotionData(float accelerationX, float accelerationY, float accelerationZ, float rotationX, float rotationY, float rotationZ) {
+        this.acceleration = new Vector3f(accelerationX, accelerationY, accelerationZ);
+        this.rotation = new Vector3f(rotationX, rotationY, rotationZ);
     }
 
     /**
@@ -31,7 +33,7 @@ public class MotionData {
      * @param acceleration The acceleration vector in m/s^2.
      * @param rotation     The rotation vector in degrees.
      */
-    public MotionData(Vector3 acceleration, Vector3 rotation) {
+    public MotionData(Vector3f acceleration, Vector3f rotation) {
         this.acceleration = acceleration;
         this.rotation = rotation;
     }
@@ -52,12 +54,12 @@ public class MotionData {
             return null;
 
         return new MotionData(
-                Double.parseDouble(parts[0]),
-                Double.parseDouble(parts[1]),
-                Double.parseDouble(parts[2]),
-                Double.parseDouble(parts[3]),
-                Double.parseDouble(parts[4]),
-                Double.parseDouble(parts[5])
+                Float.parseFloat(parts[0]),
+                Float.parseFloat(parts[1]),
+                Float.parseFloat(parts[2]),
+                Float.parseFloat(parts[3]),
+                Float.parseFloat(parts[4]),
+                Float.parseFloat(parts[5])
         );
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index 7879807..edc8560 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -2,10 +2,12 @@ package com.example.fitbot.util.processing;
 
 import android.util.Log;
 
+import com.example.fitbot.util.path.GesturePath;
 import com.example.fitbot.util.server.IWebSocketHandler;
 import com.example.fitbot.util.server.WebSocket;
 
 import org.jetbrains.annotations.NotNull;
+import org.joml.Vector3f;
 
 import java.util.ArrayList;
 import java.util.List;
@@ -16,9 +18,10 @@ public class MotionProcessor {
     public static final String DELIMITER = ";";
 
     private final List<MotionData> preprocessedData = new ArrayList<>(); // Preprocessed motion data
-    private final List<Vector3> relativePath = new ArrayList<>(); // Relative path of the motion data
-    private Vector3 ZERO = new Vector3(0, 0, 0);
-    private double sampleRate = 1.0D; // samples/second
+    private final List<Vector3f> relativePath = new ArrayList<>(); // Relative path of the motion data
+    private Vector3f ZERO = new Vector3f(0, 0, 0);
+
+    private float sampleRate = 1.0F; // samples/second
     private DataConsumer motionDataConsumer = (p1, p2, p3, p4) -> {};
     private GesturePath path;
     private WebSocket socket;
@@ -77,14 +80,14 @@ public class MotionProcessor {
             // Otherwise check if it starts with 'calibrate', this is the ZERO point.
         } else if ( data.startsWith("zero")) { // message to calibrate device
             String[] vectorData = data.split(" ")[1].split(DELIMITER);
-            ZERO = new Vector3(
+            ZERO = new Vector3f(
                     Float.parseFloat(vectorData[0]),
                     Float.parseFloat(vectorData[1]),
                     Float.parseFloat(vectorData[2])
             );
             Log.i("MotionProcessor", "Device calibrated at " + ZERO.toString());
         } else if ( data.startsWith("sampleRate")) {
-            this.sampleRate = Double.parseDouble(data.split(" ")[1]);
+            this.sampleRate = Float.parseFloat(data.split(" ")[1]);
         }
     }
 
@@ -104,8 +107,8 @@ public class MotionProcessor {
      */
     public void addMotionData(MotionData data) {
         preprocessedData.add(data);
-        Vector3 previous = this.relativePath.isEmpty() ? ZERO : this.relativePath.get(this.relativePath.size() - 1);
-        Vector3 relativeVector = getRelativeVector(data).add(previous);
+        Vector3f previous = this.relativePath.isEmpty() ? ZERO : this.relativePath.get(this.relativePath.size() - 1);
+        Vector3f relativeVector = getRelativeVector(data).add(previous);
         this.relativePath.add(relativeVector);
         motionDataConsumer.accept(relativeVector, data, this.relativePath.size(), this.sampleRate);
     }
@@ -115,7 +118,7 @@ public class MotionProcessor {
      *
      * @param relativePath The new relative path.
      */
-    public void setRelativePath(List<Vector3> relativePath) {
+    public void setRelativePath(List<Vector3f> relativePath) {
         this.relativePath.clear();
         this.relativePath.addAll(relativePath);
     }
@@ -138,15 +141,17 @@ public class MotionProcessor {
      * @param motionData The motion data to calculate the relative vector for.
      * @return The relative vector of the motion data.
      */
-    public Vector3 getRelativeVector(MotionData motionData) {
+    public Vector3f getRelativeVector(MotionData motionData) {
 
         // Rotate the acceleration vector back by the rotation vector to make it
         // perpendicular to the gravity vector, then apply double integration to get the relative position.
         // s = 1/2 * a * t^2
         return motionData.acceleration
-                .rotate(motionData.rotation.negate())
-                .divide(2)
-                .multiply(sampleRate * sampleRate);
+                .rotateX(-motionData.rotation.x)
+                .rotateY(-motionData.rotation.y)
+                .rotateZ(-motionData.rotation.z)
+                .div(2)
+                .mul(sampleRate * sampleRate);
     }
 
     /**
@@ -185,7 +190,7 @@ public class MotionProcessor {
      * @param referencePoint The reference point to compare the motion data to.
      * @return The error of the motion data compared to the reference path.
      */
-    public double getError(GesturePath path, Vector3 referencePoint)
+    public double getError(GesturePath path, Vector3f referencePoint)
     {
         return path.getError(referencePoint);
     }
@@ -197,7 +202,7 @@ public class MotionProcessor {
      * @param referencePoint The reference point to compare the path data to.
      * @return The error of the motion data compared to the reference path.
      */
-    public double getError(Vector3 referencePoint) {
+    public double getError(Vector3f referencePoint) {
         if ( path == null)
             return 0;
         return path.getError(referencePoint);
@@ -253,6 +258,6 @@ public class MotionProcessor {
          * @param sampleIndex The index of the current sample
          * @param sampleRate The sample rate.
          */
-        void accept(Vector3 transformedVector, MotionData motionData, int sampleIndex, double sampleRate);
+        void accept(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate);
     }
 }

From 612b1c8a7cfb00ddf3c3526262f7bc215410cf15 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 16:29:22 +0200
Subject: [PATCH 22/33] bread

---
 code/src/Fitbot/.idea/misc.xml                |   1 +
 .../PersonalMotionPreviewElement.java         |  40 ++-
 .../example/fitbot/util/path/PathSegment.java | 105 ++-----
 .../com/example/fitbot/util/path/Point3D.java | 258 ------------------
 .../src/main/res/layout/activity_fitness.xml  |  10 +
 5 files changed, 56 insertions(+), 358 deletions(-)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
 create mode 100644 code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml

diff --git a/code/src/Fitbot/.idea/misc.xml b/code/src/Fitbot/.idea/misc.xml
index 135ab11..a67315e 100644
--- a/code/src/Fitbot/.idea/misc.xml
+++ b/code/src/Fitbot/.idea/misc.xml
@@ -22,6 +22,7 @@
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/activity_sport_menu.xml" value="0.1" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/header.xml" value="0.125" />
         <entry key="..\:/Users/sebas/Documents/HvA/Reposetories/muupooviixee66/code/src/Fitbot/app/src/main/res/layout/toolbar.xml" value="0.125" />
+        <entry key="app/src/main/res/layout/activity_fitness.xml" value="0.23550724637681159" />
         <entry key="app/src/main/res/layout/activity_main.xml" value="0.1" />
         <entry key="app/src/main/res/layout/activity_sport_item.xml" value="0.2341485507246377" />
         <entry key="app/src/main/res/layout/activity_sport_menu.xml" value="0.22056159420289856" />
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
index d70c88c..32631ee 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/components/PersonalMotionPreviewElement.java
@@ -2,12 +2,12 @@ package com.example.fitbot.ui.components;
 
 import android.content.Context;
 import android.graphics.Canvas;
+import android.graphics.Paint;
 import android.graphics.Path;
 import android.view.View;
 
 import com.example.fitbot.util.path.GesturePath;
 import com.example.fitbot.util.path.PathSegment;
-import com.example.fitbot.util.path.Point3D;
 import com.example.fitbot.util.processing.MotionData;
 import com.example.fitbot.util.processing.MotionProcessor;
 
@@ -22,6 +22,7 @@ public class PersonalMotionPreviewElement extends View {
     private double pathTime = 0.0D; // The timestamp at which the path is currently at.
     private MotionProcessor motionProcessor;
     private Path referencePath, performingPath;
+    private Paint referencePaint, performingPaint;
 
     /**
      * Constants for the preview path projection.
@@ -45,22 +46,41 @@ public class PersonalMotionPreviewElement extends View {
         this.motionProcessor = new MotionProcessor();
         this.motionProcessor.startListening();
         this.motionProcessor.setMotionDataEventHandler((processed, preprocessed, sampleIndex, sampleRate) -> {
-            // TODO: Implement the calculation of the drawing path
+            // TODO: Implement the calculation of the `performingPath` based on the motion data
         });
 
-        this.referencePath = generatePath()
+        this.referencePath = getDrawablePath(path.getSegments());
         this.performingPath = new Path();
+
+        this.referencePaint = new Paint();
+        this.referencePaint.setColor(-1); // White
+        this.referencePaint.setStyle(Paint.Style.STROKE);
+        this.referencePaint.setStrokeWidth(5.0f);
+        this.performingPaint = new Paint();
+        this.performingPaint.setColor(0xFF0000FF); // Blue
+        this.performingPaint.setStyle(Paint.Style.STROKE);
+        this.performingPaint.setStrokeWidth(5.0f);
     }
 
     /**
      * Method that calculates the path that will be drawn on the
      * canvas. This method will be called every time new motion data is received.
      */
-    private void calculateDrawingPath(Point3D transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
+    private void calculateDrawingPath(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate) {
         // Recalculate the personal path based on the new motion data
 
     }
 
+    /**
+     * Method for setting the gesture path that will be drawn on the canvas.
+     *
+     * @param path The gesture path to draw.
+     */
+    public void setGesturePath(GesturePath path) {
+        this.path = path;
+        this.referencePath = getDrawablePath(path.getSegments());
+    }
+
     /**
      * Method for setting the rotation of the preview path.
      *
@@ -111,17 +131,12 @@ public class PersonalMotionPreviewElement extends View {
      * Method that converts a sequence of vectors to a Path object.
      * This path is a set of bezier curves that will be drawn on the canvas.
      *
-     * @param curvature The curvature of the bezier curves.
-     *                  This number must be between 0 and 1, and it represents
-     *                  by how much the path segments will be curved.
-     *                  A value of 0 represents no curvature at all,
-     *                  while values closer to 1 approach full circular curvature.
      * @param segments  The path segments in the path.
      *                  These segments will be connected by bezier curves, which
      *                  all have unique curvature values.
      * @return The generated path object.
      */
-    private Path getDrawablePath(double curvature, PathSegment... segments) {
+    private Path getDrawablePath(PathSegment... segments) {
 
         Path calculatedPath = new Path();
 
@@ -144,8 +159,7 @@ public class PersonalMotionPreviewElement extends View {
     @Override
     public void onDraw(Canvas canvas) {
         // Draw the sport preview canvas
-
-
-
+        canvas.drawPath(referencePath, referencePaint);
+        canvas.drawPath(performingPath, performingPaint);
     }
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
index 05f58a7..9f0c361 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
@@ -4,11 +4,8 @@ import org.joml.Vector3f;
 
 public class PathSegment {
 
-    private final double curvature;
-    private final Vector3f start, end, normal;
-    private final double horizontalDistance;
+    private final Vector3f start, end;
     private final double distance;
-    private final double vectorAngle; // The angle of the vector from the start to the end point.
 
     /**
      * Constructor for creating a PathSegment of two lines, with the normal vector
@@ -18,48 +15,8 @@ public class PathSegment {
      * @param end The end point of the line segment.
      */
     public PathSegment(Vector3f start, Vector3f end) {
-        this.curvature = 0.0D;
         this.start = start;
         this.end = end;
-        this.horizontalDistance = Math.sqrt(Math.pow(end.x - start.x, 2) + Math.pow(end.z - start.z, 2));
-        this.vectorAngle = Math.atan2(end.y - start.y, horizontalDistance);
-        this.distance = start.distance(end);
-
-        // Normal vector calculation
-        double horizontalAngle = Math.atan2(end.z - start.z, end.x - start.x);
-        double verticalAngle = Math.atan2(end.y - start.y, horizontalDistance);
-        float sinVertical = (float)Math.sin(verticalAngle);
-        float cosVertical = (float)Math.cos(verticalAngle);
-        float sinHorizontal = (float)Math.sin(horizontalAngle);
-        float cosHorizontal = (float)Math.cos(horizontalAngle);
-        // The normal vector faces directly upward relative to the line between start and end.
-        // This means the normal vector is the perpendicular bisecting line from the line segment.
-        this.normal = new Vector3f(
-                sinVertical * cosHorizontal,
-                cosVertical,
-                sinVertical * sinHorizontal
-        );
-    }
-
-    /**
-     * Create a new path segment with a given start and end point.
-     *
-     * @param start     The start point of the path segment.
-     * @param end       The end point of the path segment.
-     *                  A value of 0 will result in the normal vector pointing upwards.
-     * @param normal The normal vector of the path segment.
-     *               This vector determines how the line curves, if it has a positive curvature.
-     * @param curvature The curvature of the path segment.
-     *                  This value is between -1 and 1, and is used to determine the curvature of the path,
-     *                  around the normal vector.
-     */
-    public PathSegment(Vector3f start, Vector3f end, Vector3f normal, double curvature) {
-        this.curvature = curvature;
-        this.start = start;
-        this.end = end;
-        this.horizontalDistance = Math.sqrt(Math.pow(end.x - start.x, 2) + Math.pow(end.z - start.z, 2));
-        this.vectorAngle = Math.atan2(end.y - start.y, horizontalDistance);
-        this.normal = normal;
         this.distance = start.distance(end);
     }
 
@@ -71,40 +28,9 @@ public class PathSegment {
      * @param dst The destination vector to interpolate to.
      * @param t   The interpolation value between 0 and 1.
      */
-    public void interpolate(Vector3f dst, double t) {
-        t = Math.min(1.0D, Math.max(0.0D, t)); // Ensure boundaries
-
-        // If curvature is 0, use linear interpolation.
-        if (this.curvature == 0.0D) {
-            dst.set(start).lerp(end, (float) t);
-        } else {
-            // Interpolate over the ellipse.
-            double angle = t * Math.PI + vectorAngle; // Angle for on the ellipse
-            double cos = Math.cos(angle);
-            double sin = Math.sin(angle);
-
-            double
-
-            // Calculate the ellipse.
-
-
-        }
-    }
-
-    /**
-     * Method for returning the control point of the path segment.
-     * This point is the point that the path segment curves around.
-     *
-     * @return The control point of the path segment.
-     */
-    public Vector3f getControlPoint() {
-        return new Vector3f(
-                (this.start.x + this.end.x) / 2.0F,
-                (this.start.y + this.end.y) / 2.0F,
-                (this.start.z + this.end.z) / 2.0F
-        )
-                .add(this.normal
-                .mul((float) this.curvature * (float) this.distance / 2.0F));
+    public Vector3f interpolate(Vector3f dst, double t) {
+        return new Vector3f(this.start)
+                .lerp(this.end, (float) Math.min(1.0F, Math.max(0.0F, t)));
     }
 
     /**
@@ -117,16 +43,21 @@ public class PathSegment {
      * @return The difference between the vector and the path segment.
      */
     public double difference(Vector3f other) {
-        return 0.0D; // TODO: Implement.
-    }
 
-    /**
-     * Get the curvature of the path segment.
-     *
-     * @return The curvature of the path segment.
-     */
-    public double getVectorAngle() {
-        return this.vectorAngle;
+        if (this.distance == 0)
+            return this.start.distance(other);
+
+        double t = ((other.x - this.start.x) * (this.end.x - this.start.x) +
+                (other.y - this.start.y) * (this.end.y - this.start.y) +
+                (other.z - this.start.z) * (this.end.z - this.start.z)) / distance;
+
+        t = Math.max(0, Math.min(1, t));
+
+        return other.distance(new Vector3f(
+                (float) (this.start.x + t * (this.end.x - this.start.x)),
+                (float) (this.start.y + t * (this.end.y - this.start.y)),
+                (float) (this.start.z + t * (this.end.z - this.start.z))
+                ));
     }
 
     /**
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
deleted file mode 100644
index de14c78..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
+++ /dev/null
@@ -1,258 +0,0 @@
-package com.example.fitbot.util.path;
-
-import java.util.Arrays;
-import java.util.Comparator;
-
-public class Point3D {
-
-    public double x, y, z;
-
-    /**
-     * Constructor for creating a new vector.
-     *
-     * @param x The X component of the vector.
-     * @param y The Y component of the vector.
-     * @param z The Z component of the vector.
-     */
-    public Point3D(double x, double y, double z) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-    }
-
-    /**
-     * Copy the vector.
-     *
-     * @return A new vector with the same values.
-     */
-    public Point3D copy() {
-        return new Point3D(this.x, this.y, this.z);
-    }
-    
-    /**
-     * Get the zero vector.
-     * 
-     * @return The zero vector.
-     */
-    public static Point3D zero() {
-        return new Point3D(0, 0, 0);
-    }
-
-    /**
-     * Get the magnitude of the vector.
-     *
-     * @return The magnitude of the vector.
-     */
-    public double magnitude() {
-        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
-    }
-
-    /**
-     * Normalize the vector.
-     *
-     * @return The normalized vector.
-     */
-    public Point3D normalize() {
-        double mag = this.magnitude();
-        if (mag == 0) throw new IllegalArgumentException("Cannot normalize the zero vector.");
-        return new Point3D(this.x / mag, this.y / mag, this.z / mag);
-    }
-
-    /**
-     * Subtract the vector from another vector.
-     *
-     * @param other The other vector to subtract.
-     * @return The new vector.
-     */
-    public Point3D subtract(Point3D other) {
-        return new Point3D(this.x - other.x, this.y - other.y, this.z - other.z);
-    }
-
-    /**
-     * Add the vector to another vector.
-     *
-     * @param other The other vector to add.
-     * @return The new vector.
-     */
-    public Point3D add(Point3D other) {
-        return new Point3D(this.x + other.x, this.y + other.y, this.z + other.z);
-    }
-
-    /**
-     * Multiply the vector by a scalar.
-     *
-     * @param scalar The scalar to multiply by.
-     * @return The multiplied vector.
-     */
-    public Point3D multiply(double scalar) {
-        return new Point3D(this.x * scalar, this.y * scalar, this.z * scalar);
-    }
-
-    /**
-     * Divide the vector by a scalar.
-     *
-     * @param scalar The scalar to divide by.
-     * @return The divided vector.
-     */
-    public Point3D divide(double scalar) {
-        if (scalar == 0) throw new IllegalArgumentException("Cannot divide by zero.");
-        return new Point3D(this.x / scalar, this.y / scalar, this.z / scalar);
-    }
-
-    /**
-     * Negate the vector.
-     *
-     * @return The negated vector.
-     */
-    public Point3D negate() {
-        return new Point3D(-this.x, -this.y, -this.z);
-    }
-
-    /**
-     * Rotate the vector around the X, Y, and Z axes.
-     *
-     * @param radX Rotation around the X axis in radians.
-     * @param radY Rotation around the Y axis in radians.
-     * @param radZ Rotation around the Z axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotate(double radX, double radY, double radZ) {
-        double cosX = Math.cos(radX);
-        double cosY = Math.cos(radY);
-        double cosZ = Math.cos(radZ);
-        double sinX = Math.sin(radX);
-        double sinY = Math.sin(radY);
-        double sinZ = Math.sin(radZ);
-        double newX = x * cosY * cosZ + y * cosY * sinZ - z * sinY;
-        double newY = x * (sinX * sinY * cosZ - cosX * sinZ) + y * (sinX * sinY * sinZ + cosX * cosZ) + z * sinX * cosY;
-        double newZ = x * (cosX * sinY * cosZ + sinX * sinZ) + y * (cosX * sinY * sinZ - sinX * cosZ) + z * cosX * cosY;
-        return new Point3D(newX, newY, newZ);
-    }
-
-    /**
-     * Rotate the vector around the X, Y, and Z axes.
-     *
-     * @param rotation The rotation vector.
-     * @return The rotated vector.
-     */
-    public Point3D rotate(Point3D rotation) {
-        return rotate(rotation.x, rotation.y, rotation.z);
-    }
-
-    /**
-     * Rotate the vector around the X axis.
-     *
-     * @param angle Rotation around the X axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateX(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x,
-                y * cosTheta - z * sinTheta,
-                y * sinTheta + z * cosTheta
-        );
-    }
-
-    /**
-     * Rotate the vector around the Y axis.
-     *
-     * @param angle Rotation around the Y axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateY(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x * cosTheta + z * sinTheta,
-                y,
-                -x * sinTheta + z * cosTheta
-        );
-    }
-
-    /**
-     * Rotate the vector around the Z axis.
-     *
-     * @param angle Rotation around the Z axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateZ(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x * cosTheta - y * sinTheta,
-                x * sinTheta + y * cosTheta,
-                z
-        );
-    }
-
-    /**
-     * Get the squared distance between this vector and another vector.
-     *
-     * @param compare The other vector.
-     * @return The squared distance between the two vectors.
-     */
-    public double distanceSq(Point3D compare) {
-        return Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2);
-    }
-
-    /**
-     * Get the distance between this vector and another vector.
-     *
-     * @param compare The other vector.
-     * @return The distance between the two vectors.
-     */
-    public double distance(Point3D compare) {
-        return Math.sqrt(distanceSq(compare));
-    }
-
-    /**
-     * Calculate the distance to a line defined by two points.
-     *
-     * @param lineStart The starting point of the line.
-     * @param lineEnd The ending point of the line.
-     * @return The distance to the line.
-     */
-    public double distanceToLine(Point3D lineStart, Point3D lineEnd) {
-        double lineDistance = lineStart.distanceSq(lineEnd);
-        if (lineDistance == 0)
-            return this.distanceSq(lineStart);
-
-        double t = ((this.x - lineStart.x) * (lineEnd.x - lineStart.x) +
-                (this.y - lineStart.y) * (lineEnd.y - lineStart.y) +
-                (this.z - lineStart.z) * (lineEnd.z - lineStart.z)) / lineDistance;
-
-        t = Math.max(0, Math.min(1, t));
-
-        return this.distanceSq(new Point3D(
-                lineStart.x + t * (lineEnd.x - lineStart.x),
-                lineStart.y + t * (lineEnd.y - lineStart.y),
-                lineStart.z + t * (lineEnd.z - lineStart.z))
-        );
-    }
-
-    /**
-     * Retrieve the closest vector to this one given a list of vectors.
-     *
-     * @param vectors The list of vectors to compare.
-     * @return The closest vector.
-     */
-    public Point3D closest(Point3D... vectors) {
-        return Arrays.stream(vectors).min(Comparator.comparingDouble(this::distanceSq)).orElse(null);
-    }
-
-    public Point3D map(VectorMapFunction function) {
-        return function.apply(this);
-    }
-
-    public interface VectorMapFunction {
-        Point3D apply(Point3D vector);
-    }
-
-    @Override
-    public String toString()
-    {
-        return "Vector3(" + this.x + ", " + this.y + ", " + this.z + ")";
-    }
-}
diff --git a/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml b/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml
new file mode 100644
index 0000000..35990c8
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/res/layout/activity_fitness.xml
@@ -0,0 +1,10 @@
+<?xml version="1.0" encoding="utf-8"?>
+<android.support.constraint.ConstraintLayout xmlns:android="http://schemas.android.com/apk/res/android"
+    android:layout_width="match_parent"
+    android:layout_height="match_parent">
+
+    <com.example.fitbot.ui.components.PersonalMotionPreviewElement
+        android:layout_width="match_parent"
+        android:layout_height="match_parent"/>
+
+</android.support.constraint.ConstraintLayout>
\ No newline at end of file

From af9138b1ea25d72e6c386f779a43d8b9214e94af Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 16:34:17 +0200
Subject: [PATCH 23/33] store changes

---
 .idea/workspace.xml                           | 31 +++++++++++++++----
 .../motion-tracking-system-analysis.md        |  4 +--
 2 files changed, 27 insertions(+), 8 deletions(-)

diff --git a/.idea/workspace.xml b/.idea/workspace.xml
index 8668fe5..1beee62 100644
--- a/.idea/workspace.xml
+++ b/.idea/workspace.xml
@@ -14,10 +14,9 @@
     </configurations>
   </component>
   <component name="ChangeListManager">
-    <list default="true" id="00599d5b-7eb5-44da-ad7f-98bf42384c16" name="Changes" comment="Renamed files, added motion-tracking-system-analysis.md">
+    <list default="true" id="00599d5b-7eb5-44da-ad7f-98bf42384c16" name="Changes" comment="Updated onderzoek-voorbeeld.md &amp; motion-tracking-system-analysis.md">
       <change beforePath="$PROJECT_DIR$/.idea/workspace.xml" beforeDir="false" afterPath="$PROJECT_DIR$/.idea/workspace.xml" afterDir="false" />
       <change beforePath="$PROJECT_DIR$/docs/documentation/research-questions/motion-tracking-system-analysis.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/documentation/research-questions/motion-tracking-system-analysis.md" afterDir="false" />
-      <change beforePath="$PROJECT_DIR$/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md" beforeDir="false" afterPath="$PROJECT_DIR$/docs/personal-documentation/Luca/literatuuronderzoek/onderzoek-voorbeeld.md" afterDir="false" />
     </list>
     <option name="SHOW_DIALOG" value="false" />
     <option name="HIGHLIGHT_CONFLICTS" value="true" />
@@ -144,7 +143,7 @@
   <component name="SharedIndexes">
     <attachedChunks>
       <set>
-        <option value="bundled-js-predefined-1d06a55b98c1-2e7d6887c066-JavaScript-WS-241.15989.47" />
+        <option value="bundled-js-predefined-1d06a55b98c1-91d5c284f522-JavaScript-WS-241.15989.105" />
       </set>
     </attachedChunks>
   </component>
@@ -164,7 +163,9 @@
       <workItem from="1715686350378" duration="91000" />
       <workItem from="1715687332786" duration="822000" />
       <workItem from="1715724270673" duration="5481000" />
-      <workItem from="1715765990621" duration="4442000" />
+      <workItem from="1715765990621" duration="8538000" />
+      <workItem from="1715777647522" duration="725000" />
+      <workItem from="1715779408605" duration="3840000" />
     </task>
     <task id="LOCAL-00001" summary="Changes">
       <created>1713528225837</created>
@@ -242,7 +243,23 @@
       <option name="project" value="LOCAL" />
       <updated>1715767477412</updated>
     </task>
-    <option name="localTasksCounter" value="11" />
+    <task id="LOCAL-00011" summary="Updated onderzoek-voorbeeld.md and motion-tracking-system-analysis.md">
+      <option name="closed" value="true" />
+      <created>1715773120402</created>
+      <option name="number" value="00011" />
+      <option name="presentableId" value="LOCAL-00011" />
+      <option name="project" value="LOCAL" />
+      <updated>1715773120402</updated>
+    </task>
+    <task id="LOCAL-00012" summary="Updated onderzoek-voorbeeld.md &amp; motion-tracking-system-analysis.md">
+      <option name="closed" value="true" />
+      <created>1715780873394</created>
+      <option name="number" value="00012" />
+      <option name="presentableId" value="LOCAL-00012" />
+      <option name="project" value="LOCAL" />
+      <updated>1715780873394</updated>
+    </task>
+    <option name="localTasksCounter" value="13" />
     <servers />
   </component>
   <component name="TypeScriptGeneratedFilesManager">
@@ -271,6 +288,8 @@
     <MESSAGE value="onderzoek-voorbeeld.md" />
     <MESSAGE value="Updated onderzoek-voorbeeld.md" />
     <MESSAGE value="Renamed files, added motion-tracking-system-analysis.md" />
-    <option name="LAST_COMMIT_MESSAGE" value="Renamed files, added motion-tracking-system-analysis.md" />
+    <MESSAGE value="Updated onderzoek-voorbeeld.md and motion-tracking-system-analysis.md" />
+    <MESSAGE value="Updated onderzoek-voorbeeld.md &amp; motion-tracking-system-analysis.md" />
+    <option name="LAST_COMMIT_MESSAGE" value="Updated onderzoek-voorbeeld.md &amp; motion-tracking-system-analysis.md" />
   </component>
 </project>
\ No newline at end of file
diff --git a/docs/documentation/research-questions/motion-tracking-system-analysis.md b/docs/documentation/research-questions/motion-tracking-system-analysis.md
index bef7d99..9a349ea 100644
--- a/docs/documentation/research-questions/motion-tracking-system-analysis.md
+++ b/docs/documentation/research-questions/motion-tracking-system-analysis.md
@@ -46,5 +46,5 @@ acceleration vector `A(x, y, z)` and rotation vector `R(x, y, z)` to an accelera
 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
-with negative angles, to rotate it back  to be perpendicular with the normal of the earth.
-After 
\ No newline at end of file
+with negative angles, to rotate it back to be perpendicular with the normal of the earth.
+After this transformation
\ No newline at end of file

From ce5f50439a64b9ff36a526fc2efd6b6f3fc0edda Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 16:40:35 +0200
Subject: [PATCH 24/33] fixed

---
 .../com/example/fitbot/util/path/Point3D.java | 258 ------------------
 .../util/processing/IMotionDataConsumer.java  |  14 +
 .../util/processing/MotionProcessor.java      |  16 +-
 3 files changed, 15 insertions(+), 273 deletions(-)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
deleted file mode 100644
index de14c78..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/Point3D.java
+++ /dev/null
@@ -1,258 +0,0 @@
-package com.example.fitbot.util.path;
-
-import java.util.Arrays;
-import java.util.Comparator;
-
-public class Point3D {
-
-    public double x, y, z;
-
-    /**
-     * Constructor for creating a new vector.
-     *
-     * @param x The X component of the vector.
-     * @param y The Y component of the vector.
-     * @param z The Z component of the vector.
-     */
-    public Point3D(double x, double y, double z) {
-        this.x = x;
-        this.y = y;
-        this.z = z;
-    }
-
-    /**
-     * Copy the vector.
-     *
-     * @return A new vector with the same values.
-     */
-    public Point3D copy() {
-        return new Point3D(this.x, this.y, this.z);
-    }
-    
-    /**
-     * Get the zero vector.
-     * 
-     * @return The zero vector.
-     */
-    public static Point3D zero() {
-        return new Point3D(0, 0, 0);
-    }
-
-    /**
-     * Get the magnitude of the vector.
-     *
-     * @return The magnitude of the vector.
-     */
-    public double magnitude() {
-        return Math.sqrt(this.x * this.x + this.y * this.y + this.z * this.z);
-    }
-
-    /**
-     * Normalize the vector.
-     *
-     * @return The normalized vector.
-     */
-    public Point3D normalize() {
-        double mag = this.magnitude();
-        if (mag == 0) throw new IllegalArgumentException("Cannot normalize the zero vector.");
-        return new Point3D(this.x / mag, this.y / mag, this.z / mag);
-    }
-
-    /**
-     * Subtract the vector from another vector.
-     *
-     * @param other The other vector to subtract.
-     * @return The new vector.
-     */
-    public Point3D subtract(Point3D other) {
-        return new Point3D(this.x - other.x, this.y - other.y, this.z - other.z);
-    }
-
-    /**
-     * Add the vector to another vector.
-     *
-     * @param other The other vector to add.
-     * @return The new vector.
-     */
-    public Point3D add(Point3D other) {
-        return new Point3D(this.x + other.x, this.y + other.y, this.z + other.z);
-    }
-
-    /**
-     * Multiply the vector by a scalar.
-     *
-     * @param scalar The scalar to multiply by.
-     * @return The multiplied vector.
-     */
-    public Point3D multiply(double scalar) {
-        return new Point3D(this.x * scalar, this.y * scalar, this.z * scalar);
-    }
-
-    /**
-     * Divide the vector by a scalar.
-     *
-     * @param scalar The scalar to divide by.
-     * @return The divided vector.
-     */
-    public Point3D divide(double scalar) {
-        if (scalar == 0) throw new IllegalArgumentException("Cannot divide by zero.");
-        return new Point3D(this.x / scalar, this.y / scalar, this.z / scalar);
-    }
-
-    /**
-     * Negate the vector.
-     *
-     * @return The negated vector.
-     */
-    public Point3D negate() {
-        return new Point3D(-this.x, -this.y, -this.z);
-    }
-
-    /**
-     * Rotate the vector around the X, Y, and Z axes.
-     *
-     * @param radX Rotation around the X axis in radians.
-     * @param radY Rotation around the Y axis in radians.
-     * @param radZ Rotation around the Z axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotate(double radX, double radY, double radZ) {
-        double cosX = Math.cos(radX);
-        double cosY = Math.cos(radY);
-        double cosZ = Math.cos(radZ);
-        double sinX = Math.sin(radX);
-        double sinY = Math.sin(radY);
-        double sinZ = Math.sin(radZ);
-        double newX = x * cosY * cosZ + y * cosY * sinZ - z * sinY;
-        double newY = x * (sinX * sinY * cosZ - cosX * sinZ) + y * (sinX * sinY * sinZ + cosX * cosZ) + z * sinX * cosY;
-        double newZ = x * (cosX * sinY * cosZ + sinX * sinZ) + y * (cosX * sinY * sinZ - sinX * cosZ) + z * cosX * cosY;
-        return new Point3D(newX, newY, newZ);
-    }
-
-    /**
-     * Rotate the vector around the X, Y, and Z axes.
-     *
-     * @param rotation The rotation vector.
-     * @return The rotated vector.
-     */
-    public Point3D rotate(Point3D rotation) {
-        return rotate(rotation.x, rotation.y, rotation.z);
-    }
-
-    /**
-     * Rotate the vector around the X axis.
-     *
-     * @param angle Rotation around the X axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateX(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x,
-                y * cosTheta - z * sinTheta,
-                y * sinTheta + z * cosTheta
-        );
-    }
-
-    /**
-     * Rotate the vector around the Y axis.
-     *
-     * @param angle Rotation around the Y axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateY(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x * cosTheta + z * sinTheta,
-                y,
-                -x * sinTheta + z * cosTheta
-        );
-    }
-
-    /**
-     * Rotate the vector around the Z axis.
-     *
-     * @param angle Rotation around the Z axis in radians.
-     * @return The rotated vector.
-     */
-    public Point3D rotateZ(double angle) {
-        double sinTheta = Math.sin(angle);
-        double cosTheta = Math.cos(angle);
-        return new Point3D(
-                x * cosTheta - y * sinTheta,
-                x * sinTheta + y * cosTheta,
-                z
-        );
-    }
-
-    /**
-     * Get the squared distance between this vector and another vector.
-     *
-     * @param compare The other vector.
-     * @return The squared distance between the two vectors.
-     */
-    public double distanceSq(Point3D compare) {
-        return Math.pow(compare.x - x, 2) + Math.pow(compare.y - y, 2) + Math.pow(compare.z - z, 2);
-    }
-
-    /**
-     * Get the distance between this vector and another vector.
-     *
-     * @param compare The other vector.
-     * @return The distance between the two vectors.
-     */
-    public double distance(Point3D compare) {
-        return Math.sqrt(distanceSq(compare));
-    }
-
-    /**
-     * Calculate the distance to a line defined by two points.
-     *
-     * @param lineStart The starting point of the line.
-     * @param lineEnd The ending point of the line.
-     * @return The distance to the line.
-     */
-    public double distanceToLine(Point3D lineStart, Point3D lineEnd) {
-        double lineDistance = lineStart.distanceSq(lineEnd);
-        if (lineDistance == 0)
-            return this.distanceSq(lineStart);
-
-        double t = ((this.x - lineStart.x) * (lineEnd.x - lineStart.x) +
-                (this.y - lineStart.y) * (lineEnd.y - lineStart.y) +
-                (this.z - lineStart.z) * (lineEnd.z - lineStart.z)) / lineDistance;
-
-        t = Math.max(0, Math.min(1, t));
-
-        return this.distanceSq(new Point3D(
-                lineStart.x + t * (lineEnd.x - lineStart.x),
-                lineStart.y + t * (lineEnd.y - lineStart.y),
-                lineStart.z + t * (lineEnd.z - lineStart.z))
-        );
-    }
-
-    /**
-     * Retrieve the closest vector to this one given a list of vectors.
-     *
-     * @param vectors The list of vectors to compare.
-     * @return The closest vector.
-     */
-    public Point3D closest(Point3D... vectors) {
-        return Arrays.stream(vectors).min(Comparator.comparingDouble(this::distanceSq)).orElse(null);
-    }
-
-    public Point3D map(VectorMapFunction function) {
-        return function.apply(this);
-    }
-
-    public interface VectorMapFunction {
-        Point3D apply(Point3D vector);
-    }
-
-    @Override
-    public String toString()
-    {
-        return "Vector3(" + this.x + ", " + this.y + ", " + this.z + ")";
-    }
-}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java
new file mode 100644
index 0000000..75def12
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java
@@ -0,0 +1,14 @@
+package com.example.fitbot.util.processing;
+
+public interface IMotionDataConsumer {
+
+        /**
+         * Function for accepting motion data and the transformed vector.
+         * @param transformedVector The transformed vector.
+         * @param motionData The input motion data.
+         * @param sampleIndex The index of the current sample
+         * @param sampleRate The sample rate.
+         */
+        void accept(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate);
+
+}
\ No newline at end of file
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index edc8560..f79d129 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -22,7 +22,7 @@ public class MotionProcessor {
     private Vector3f ZERO = new Vector3f(0, 0, 0);
 
     private float sampleRate = 1.0F; // samples/second
-    private DataConsumer motionDataConsumer = (p1, p2, p3, p4) -> {};
+    private IMotionDataConsumer motionDataConsumer = (p1, p2, p3, p4) -> {};
     private GesturePath path;
     private WebSocket socket;
 
@@ -245,19 +245,5 @@ public class MotionProcessor {
         Log.i("MotionProcessor", "Path length: " + relativePath.size());
         Log.i("MotionProcessor", "Sample rate: " + sampleRate);
         Log.i("MotionProcessor", "Calibration point: " + ZERO.toString());
-
-    /**
-     * Interface that accepts motion data and the transformed vector.
-     */
-    public interface DataConsumer {
-
-        /**
-         * Function for accepting motion data and the transformed vector.
-         * @param transformedVector The transformed vector.
-         * @param motionData The input motion data.
-         * @param sampleIndex The index of the current sample
-         * @param sampleRate The sample rate.
-         */
-        void accept(Vector3f transformedVector, MotionData motionData, int sampleIndex, double sampleRate);
     }
 }

From 3ca982c36f62b984520a33a71a726f9509e4e713 Mon Sep 17 00:00:00 2001
From: SebasKoedam <Sebas@koedam.info>
Date: Wed, 15 May 2024 16:41:32 +0200
Subject: [PATCH 25/33] feat: Add Bluetooth permissions and location permission
 to AndroidManifest.xml

---
 code/src/Fitbot/app/src/main/AndroidManifest.xml          | 8 ++++----
 .../com/example/fitbot/ui/activities/MainActivity.java    | 4 ++--
 .../research-questions/position-tracking-research.md      | 6 +++++-
 docs/teamdocumentatie/sprint-reports/sprint-report-s1.md  | 2 +-
 4 files changed, 12 insertions(+), 8 deletions(-)

diff --git a/code/src/Fitbot/app/src/main/AndroidManifest.xml b/code/src/Fitbot/app/src/main/AndroidManifest.xml
index 2c2784b..23755ba 100644
--- a/code/src/Fitbot/app/src/main/AndroidManifest.xml
+++ b/code/src/Fitbot/app/src/main/AndroidManifest.xml
@@ -4,6 +4,10 @@
 
     <uses-feature android:name="com.softbank.hardware.pepper" />
 
+    <uses-permission android:name="android.permission.BLUETOOTH"/>
+    <uses-permission android:name="android.permission.BLUETOOTH_ADMIN"/>
+    <uses-permission android:name="android.permission.ACCESS_FINE_LOCATION"/>
+
     <application
         android:allowBackup="true"
         android:icon="@mipmap/ic_launcher"
@@ -11,10 +15,6 @@
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
         android:theme="@style/Theme.Fitbot" >
-        <activity
-            android:name=".ui.SportMenuActivity"
-            android:exported="true">
-        </activity>
         <activity
             android:name=".ui.activities.MainActivity"
             android:exported="true" >
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
index 1ed3962..9b92474 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
@@ -1,4 +1,4 @@
-package com.example.fitbot;
+package com.example.fitbot.ui.activities;
 
 import android.annotation.SuppressLint;
 import android.content.Intent;
@@ -16,7 +16,7 @@ import com.example.fitbot.util.processing.GesturePath;
 import com.example.fitbot.util.processing.MotionProcessor;
 import com.example.fitbot.util.processing.Vector3;
 
-public class MainScreen extends AppCompatActivity {
+public class MainActivity extends AppCompatActivity {
 
     //Variables
     DrawerLayout drawerLayout;
diff --git a/docs/documentation/research-questions/position-tracking-research.md b/docs/documentation/research-questions/position-tracking-research.md
index 9aa5001..f9edfa8 100644
--- a/docs/documentation/research-questions/position-tracking-research.md
+++ b/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
 
diff --git a/docs/teamdocumentatie/sprint-reports/sprint-report-s1.md b/docs/teamdocumentatie/sprint-reports/sprint-report-s1.md
index a9120f1..61889f5 100644
--- a/docs/teamdocumentatie/sprint-reports/sprint-report-s1.md
+++ b/docs/teamdocumentatie/sprint-reports/sprint-report-s1.md
@@ -80,6 +80,6 @@ Wat moet er beter? Wat ging er goed? Welke SMART leerdoelen hebben jullie voor d
 
 We zijn samen gaan zitten voor de retrospective, hier uit is het volgende voort gekomen (we hebben gebruik gemaakt van the 4 L's):
 
-![alt text](Sprint1Retro.png)
+![Retro](Sprint1Retro.png)
 
 De leerdoelen zet iedereen in zijn eigen scorion formulier.
\ No newline at end of file

From 32020ce801b26ff3f088825817c8435a1a9bb583 Mon Sep 17 00:00:00 2001
From: SebasKoedam <Sebas@koedam.info>
Date: Wed, 15 May 2024 16:42:21 +0200
Subject: [PATCH 26/33] feat: Add Java build configuration update to
 .vscode/settings.json

---
 .vscode/settings.json | 3 +++
 1 file changed, 3 insertions(+)
 create mode 100644 .vscode/settings.json

diff --git a/.vscode/settings.json b/.vscode/settings.json
new file mode 100644
index 0000000..c5f3f6b
--- /dev/null
+++ b/.vscode/settings.json
@@ -0,0 +1,3 @@
+{
+    "java.configuration.updateBuildConfiguration": "interactive"
+}
\ No newline at end of file

From 5b5934d9853f9483bc43da0ecdfea600523492bf Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 16:44:25 +0200
Subject: [PATCH 27/33] g

---
 .../com/example/fitbot/util/processing/IMotionDataConsumer.java | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java
index 75def12..b09726d 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/IMotionDataConsumer.java
@@ -1,5 +1,7 @@
 package com.example.fitbot.util.processing;
 
+import org.joml.Vector3f;
+
 public interface IMotionDataConsumer {
 
         /**

From a4a01ae9efa971d2fb35e63da616befab5f90314 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Wed, 15 May 2024 16:50:22 +0200
Subject: [PATCH 28/33] fixed issues

---
 .../app/src/main/java/com/example/fitbot/MainActivity.java    | 0
 .../com/example/fitbot/ui/activities/FitnessActivity.java     | 4 +---
 .../java/com/example/fitbot/ui/activities/MainActivity.java   | 4 +++-
 .../com/example/fitbot/util/processing/MotionProcessor.java   | 2 +-
 4 files changed, 5 insertions(+), 5 deletions(-)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/MainActivity.java
deleted file mode 100644
index e69de29..0000000
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
index 9c5d999..196a65b 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/FitnessActivity.java
@@ -1,7 +1,6 @@
-package com.example.yourapp;
+package com.example.fitbot.ui.activities;
 
 import android.os.Bundle;
-import androidx.appcompat.widget.Toolbar;
 import com.aldebaran.qi.sdk.QiContext;
 import com.aldebaran.qi.sdk.RobotLifecycleCallbacks;
 import com.aldebaran.qi.sdk.design.activity.RobotActivity;
@@ -11,7 +10,6 @@ public class FitnessActivity extends RobotActivity implements RobotLifecycleCall
     @Override
     protected void onCreate(Bundle savedInstanceState) {
         super.onCreate(savedInstanceState);
-        setContentView(R.layout.activity_fitness);
     }
 
     @Override
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
index 49049d7..949e2b0 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/ui/activities/MainActivity.java
@@ -9,6 +9,8 @@ import android.support.v7.app.ActionBarDrawerToggle;
 import android.support.v7.app.AppCompatActivity;
 import android.support.v7.widget.Toolbar;
 
+import com.example.fitbot.R;
+
 public class MainActivity extends AppCompatActivity {
 
     //Variables
@@ -34,7 +36,7 @@ public class MainActivity extends AppCompatActivity {
         navigationView.bringToFront();
 
         ActionBarDrawerToggle toggle=new
-                ActionBarDrawerToggle(this,drawerLayout,toolbar,R.string.navigation_drawer_open,R.string.navigation_drawer_close);
+                ActionBarDrawerToggle(this,drawerLayout,toolbar, R.string.navigation_drawer_open, R.string.navigation_drawer_close);
         drawerLayout.addDrawerListener(toggle);
         toggle.syncState();
     }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
index f79d129..9a04461 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/processing/MotionProcessor.java
@@ -127,7 +127,7 @@ public class MotionProcessor {
      * Function for setting the motion data receiver.
      * @param consumer The consumer to set.
      */
-    public void setMotionDataEventHandler(DataConsumer consumer) {
+    public void setMotionDataEventHandler(IMotionDataConsumer consumer) {
         if ( consumer != null)
             this.motionDataConsumer = consumer;
     }

From ab73c5012ba698bbbd2dcb4514340a16f2bc8df1 Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Wed, 15 May 2024 17:03:02 +0200
Subject: [PATCH 29/33] java class explanation

---
 .../android/Java class modifiers.md           | 109 ++++++++++++++++++
 1 file changed, 109 insertions(+)
 create mode 100644 docs/documentation/android/Java class modifiers.md

diff --git a/docs/documentation/android/Java class modifiers.md b/docs/documentation/android/Java class modifiers.md
new file mode 100644
index 0000000..0ff6895
--- /dev/null
+++ b/docs/documentation/android/Java class modifiers.md	
@@ -0,0 +1,109 @@
+# Java class modifiers
+
+## How are classes build in java?
+There are a lot of classes with a lot of parameters 
+
+A class always begins with either the public or default or abstract access modifier. Then comes the class name
+
+Example: 
+```java
+public class MyClass {
+    //methods and atributes
+}
+
+```
+Then in a class you can have Methods or Atributes where the actual code is.
+
+```mermaid
+flowchart
+a[Access Modifiers] --> b[class] --> c[Class name]
+```
+
+## Constructor
+A constructor in Java is a special method that is used to initialize objects. The constructor is called when an object of a class is created. It can be used to set initial values for object attributes.
+
+The constructor Method is the first method that is called when a class is created. It has the same name as the class and no return type. It is automaticly called when a class is created.
+
+### Methods
+A method is a block of code which only runs when it is called. You can pass data, known as parameters, into a method. Methods are used to perform certain actions, and they are also known as functions.
+
+Methods are build like this
+```mermaid
+flowchart
+A[Access Modifiers] --> B[Method Modifier] --> C[Return Type] --> D[Method Name] --> E[Parameters] --> F[Method Body]
+```
+
+
+Example:
+```java
+public class MyClass {
+    // Method
+  static void myMethod() {
+    // print Hello World!
+    System.out.println("Hello World!");
+  }
+  // Main method
+  //access modifier, Method Modifier, return type, method name, parameters, method body
+  public static void main(String[] args) {
+    // Call the method
+    myMethod();
+  }
+}
+```
+
+
+### Atributes
+Attributes are variables within a class. When an object is created from a class, the object will have these attributes.
+
+Example:
+```java
+public class MyClass {
+  int x = 5;
+}
+```
+
+## Classes
+### Class modifiers
+
+#### Non-access modifiers
+| Modifier | Description |  |  |  |
+|---|---|---|---|---|
+| final | The class cannot be inherited by other classes (You will learn more about inheritance in the Inheritance chapter) |  |  |  |
+| abstract | The class cannot be used to create objects (To access an abstract class, it must be inherited from another class. You will learn more about inheritance and abstraction in the Inheritance and Abstraction chapters) |  |  |  |
+||||
+
+#### Access modifiers
+| Modifier | Description |  |  |  |
+|---|---|---|---|---|
+| public | The code is accessible for all classes |  |  |  |
+| private | The code is only accessible within the declared class |  |  |  |
+| default | The code is only accessible in the same package. This is used when you don't specify a modifier. You will learn more about packages in the Packages chapter |  |  |  |
+| protected | The code is accessible in the same package and subclasses. You will learn more about subclasses and superclasses in the Inheritance chapter |  |  |  |
+|  |  |  |  |  |
+
+
+## Methods and attributes
+#### non access modifiers
+| Modifier | Description |  |  |  |
+|---|---|---|---|---|
+| final | Attributes and methods cannot be overridden/modified |  |  |  |
+| static | Attributes and methods belongs to the class, rather than an object. You don't really wanna use this one. |  |  |  |
+| abstract | Can only be used in an abstract class, and can only be used on methods. The method does not have a body, for example abstract void run();. The body is provided by the subclass (inherited from). You will learn more about inheritance and abstraction in the Inheritance and Abstraction chapters |  |  |  |
+| transient | Attributes and methods are skipped when serializing the object containing them |  |  |  |
+| synchronized | Methods can only be accessed by one thread at a time |  |  |  |
+| volatile | The value of an attribute is not cached thread-locally, and is always read from the "main memory" |  |  |  |
+||||
+
+#### Access modifiers
+| Modifier | Description |  |  |  |
+|---|---|---|---|---|
+| public | The code is accessible for all classes |  |  |  |
+| private | The code is only accessible within the declared class |  |  |  |
+| default | The code is only accessible in the same package. This is used when you don't specify a modifier. You will learn more about packages in the Packages chapter |  |  |  |
+| protected | The code is accessible in the same package and subclasses. You will learn more about subclasses and superclasses in the Inheritance chapter |  |  |  |
+|  |  |  |  |  |
+
+
+## Sources 
+
+* https://www.w3schools.com/java/java_modifiers.asp

From 03b056811d8880a435439bb4d368eb23930cbf4b Mon Sep 17 00:00:00 2001
From: Sam Hos <sam.hos@hva.nl>
Date: Wed, 15 May 2024 17:03:32 +0200
Subject: [PATCH 30/33] Name change

---
 .../android/{Java class modifiers.md => javaClasses.md}           | 0
 1 file changed, 0 insertions(+), 0 deletions(-)
 rename docs/documentation/android/{Java class modifiers.md => javaClasses.md} (100%)

diff --git a/docs/documentation/android/Java class modifiers.md b/docs/documentation/android/javaClasses.md
similarity index 100%
rename from docs/documentation/android/Java class modifiers.md
rename to docs/documentation/android/javaClasses.md

From 59c374eb02700335860661c61b86dcce8c51c969 Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Fri, 17 May 2024 12:32:54 +0200
Subject: [PATCH 31/33] Added sport activity abstraction classes

---
 .../fitbot/exercise/AbstractExercise.java     | 123 ++++++++++++++++++
 .../EExerciseType.java}                       |   6 +-
 .../example/fitbot/exercise/EMuscleGroup.java |   5 +
 .../example/fitbot/exercise/ExerciseUser.java |  53 ++++++++
 .../fitbot/exercise/FitnessManager.java       |  48 +++++++
 .../example/fitbot/util/path/GesturePath.java |   3 -
 .../example/fitbot/util/path/PathSegment.java |   3 +-
 .../com/example/fitbot/PathSegmentTest.java   |  35 +++++
 8 files changed, 268 insertions(+), 8 deletions(-)
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
 rename code/src/Fitbot/app/src/main/java/com/example/fitbot/{sports/ESportType.java => exercise/EExerciseType.java} (64%)
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseUser.java
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java
 create mode 100644 code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
new file mode 100644
index 0000000..2265269
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
@@ -0,0 +1,123 @@
+package com.example.fitbot.exercise;
+
+import android.util.Log;
+
+import com.example.fitbot.util.path.GesturePath;
+import com.example.fitbot.util.server.IWebSocketHandler;
+import com.example.fitbot.util.server.WebSocket;
+
+import java.util.Objects;
+
+public abstract class AbstractExercise implements IWebSocketHandler {
+
+    private EMuscleGroup muscleGroup;
+    private EExerciseType exerciseType;
+    private GesturePath path;
+
+    // Static fields.
+    private static WebSocket webSocket;
+    private static AbstractExercise currentExercise = null;
+
+
+    /**
+     * Constructor for the AbstractExercise class.
+     *
+     * @param muscleGroup  The muscle group of the exercise.
+     * @param exerciseType The type of exercise.
+     * @param path         The path of the exercise.
+     */
+    public AbstractExercise(EMuscleGroup muscleGroup, EExerciseType exerciseType, GesturePath path) {
+        this.muscleGroup = muscleGroup;
+        this.exerciseType = exerciseType;
+        this.path = path;
+    }
+
+    /**
+     * Start the exercise.
+     * This method starts a WebSocket server
+     */
+    public void startExercise() {
+
+        // Ensure no other exercise is active.
+        if (currentExercise != null && currentExercise != this) {
+            currentExercise.__stopExercise();
+            Log.i("Exercises", "Another exercise was started when another was still running.");
+        }
+
+        // If a WebSocket server is already running, change the event handler to be this class.
+        if (webSocket != null && webSocket.isConnected()) {
+            webSocket.setEventHandler(this);
+        }
+
+        try {
+            webSocket = WebSocket.createServer();
+            Objects.requireNonNull(webSocket, "WebSocket server could not be created.");
+
+            webSocket.startListening();
+            webSocket.setEventHandler(this);
+            currentExercise = this;
+        } catch (Exception e) {
+            e.printStackTrace();
+        }
+    }
+
+    /**
+     * Method for ending this exercise and returning the grade of the performance
+     * of this activity.
+     */
+    public final double finishExercise() {
+        this.__stopExercise();
+
+        // TODO: Implement grade calculation
+        return 0.0;
+    }
+
+    /**
+     * Stop the exercise.
+     * This method stops the WebSocket server.
+     */
+    private void __stopExercise() {
+        if (webSocket != null && webSocket.isConnected()) {
+            webSocket.stop();
+            webSocket = null;
+        }
+    }
+
+    /**
+     * Method for checking whether the activity is finished.
+     */
+    public abstract boolean isActivityFinished();
+
+    /**
+     * Method for stopping this exercise.
+     */
+    public abstract void stopExercise();
+
+    /**
+     * Check if the current exercise is the current activity.
+     */
+    public final boolean isCurrentActivity() {
+        return currentExercise == this;
+    }
+
+    /**
+     * Get the muscle group of the exercise.
+     */
+    public EMuscleGroup getMuscleGroup() {
+        return muscleGroup;
+    }
+
+    /**
+     * Get the exercise type.
+     */
+    public EExerciseType getExerciseType() {
+        return exerciseType;
+    }
+
+    /**
+     * Get the path of the exercise.
+     */
+    public GesturePath getPath() {
+        return path;
+    }
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/sports/ESportType.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EExerciseType.java
similarity index 64%
rename from code/src/Fitbot/app/src/main/java/com/example/fitbot/sports/ESportType.java
rename to code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EExerciseType.java
index 4ea7606..ee4b7b1 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/sports/ESportType.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EExerciseType.java
@@ -1,13 +1,13 @@
-package com.example.fitbot.sports;
+package com.example.fitbot.exercise;
 
-public enum ESportType {
+public enum EExerciseType {
 
     FITNESS("Fitness"),
     POWER("Krachttrening");
 
     private final String name;
 
-    ESportType(String name) {
+    EExerciseType(String name) {
         this.name = name;
     }
 
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
new file mode 100644
index 0000000..3a25740
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
@@ -0,0 +1,5 @@
+package com.example.fitbot.exercise;
+
+public enum EMuscleGroup {
+   // TODO: Implement
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseUser.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseUser.java
new file mode 100644
index 0000000..bcf3320
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/ExerciseUser.java
@@ -0,0 +1,53 @@
+package com.example.fitbot.exercise;
+
+
+/**
+ * The ExerciseUser class represents a user of the exercise application.
+ * This contains all necessary information of the current user.
+ */
+public class ExerciseUser {
+
+    public float upperArmLength;
+    public float lowerArmLength;
+    public float upperLegLength;
+    public float lowerLegLength;
+    public float height;
+
+    /**
+     * Constructor for the ExerciseUser class.
+     * @param upperArmLength The length of the upper arm.
+     * @param lowerArmLength The length of the lower arm.
+     * @param height The height of the user.
+     * @param upperLegLength The length of the upper leg.
+     * @param lowerLegLength The length of the lower leg.
+     */
+    public ExerciseUser(float upperArmLength, float lowerArmLength, float height, float upperLegLength, float lowerLegLength) {
+        this.upperArmLength = upperArmLength;
+        this.lowerArmLength = lowerArmLength;
+        this.upperLegLength = upperLegLength;
+        this.lowerLegLength = lowerLegLength;
+        this.height = height;
+    }
+
+    /**
+     * Constructor for the ExerciseUser class.
+     * @param height The height of the user.
+     */
+    public ExerciseUser(float height) {
+        this.height = height;
+        this.upperArmLength = height * 0.2f;
+        this.lowerArmLength = height * 0.2f;
+        this.upperLegLength = height * 0.3f;
+        this.lowerLegLength = height * 0.3f;
+    }
+
+    /**
+     * Default constructor for the ExerciseUser class.
+     * This sets the default height to 180.0f. (1.80m)
+     */
+    public ExerciseUser() {
+        this(180.0f);
+    }
+
+
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java
new file mode 100644
index 0000000..e8404d1
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java
@@ -0,0 +1,48 @@
+package com.example.fitbot.exercise;
+
+import com.example.fitbot.util.path.GesturePath;
+
+import java.io.BufferedReader;
+import java.io.IOException;
+import java.io.InputStream;
+import java.io.InputStreamReader;
+import java.net.URL;
+import java.net.URLConnection;
+
+public class FitnessManager {
+
+    private static final String HOST_ADDRESS = "http://145.92.8.132";
+
+    private static String sendHTTP(String url, String method, String contentType, String body) {
+        try {
+            URLConnection connection = new URL(url).openConnection();
+            connection.addRequestProperty("Content-Type", contentType);
+            connection.addRequestProperty("Request-Method", method);
+            connection.getOutputStream().write(body.getBytes());
+            connection.connect();
+            InputStream stream = connection.getInputStream();
+            BufferedReader reader = new BufferedReader(new InputStreamReader(stream));
+            StringBuilder builder = new StringBuilder();
+            String line;
+            while ((line = reader.readLine()) != null) {
+                builder.append(line);
+            }
+            return builder.toString();
+        } catch (IOException e) {
+            e.printStackTrace();
+        }
+        return null;
+    }
+
+    public static GesturePath acquirePath(String uniqueIdentifier) {
+        String response = sendHTTP(
+                HOST_ADDRESS + "/acquire", "GET", "application/json", "{\"kind\":\"" + uniqueIdentifier + "\"}"
+        );
+        // Validate the response
+        if ( response != null ) {
+
+        }
+        return null;
+    }
+
+}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
index 5507c71..88c41ad 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/GesturePath.java
@@ -10,7 +10,6 @@ public class GesturePath {
 
     // The vectors that make up the path.
     private final PathSegment[] segments;
-    private double curvature;
 
     public GesturePath(Vector3f[] vectors) {
         this(vectors, 0.0D);
@@ -27,7 +26,6 @@ public class GesturePath {
         if ( vectors.length < 2)
             throw new IllegalArgumentException("A path must have at least two points.");
 
-        this.curvature = curvature;
         this.segments = new PathSegment[vectors.length - 1];
         for ( int i = 0; i < vectors.length - 1; i++)
             segments[i] = new PathSegment(vectors[i], vectors[i + 1]);
@@ -39,7 +37,6 @@ public class GesturePath {
      */
     public GesturePath(PathSegment... segments) {
         this.segments = segments;
-        this.curvature = 0.0d;
     }
 
     /**
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
index 9f0c361..11183ca 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/util/path/PathSegment.java
@@ -25,10 +25,9 @@ public class PathSegment {
      * depending on the curvature of the curve. If the curvature is unset, or set to 0
      * then this method will use linear interpolation. Otherwise, it will use a curve.
      *
-     * @param dst The destination vector to interpolate to.
      * @param t   The interpolation value between 0 and 1.
      */
-    public Vector3f interpolate(Vector3f dst, double t) {
+    public Vector3f interpolate(double t) {
         return new Vector3f(this.start)
                 .lerp(this.end, (float) Math.min(1.0F, Math.max(0.0F, t)));
     }
diff --git a/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java b/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java
new file mode 100644
index 0000000..a7d7bca
--- /dev/null
+++ b/code/src/Fitbot/app/src/test/java/com/example/fitbot/PathSegmentTest.java
@@ -0,0 +1,35 @@
+package com.example.fitbot;
+
+import com.example.fitbot.util.path.GesturePath;
+import com.example.fitbot.util.path.PathSegment;
+
+import org.joml.Vector3f;
+
+public class PathSegmentTest {
+
+    @Test
+    public void testPathSegment() {
+        // Test the PathSegment class
+        Vector3f[] vectors = new Vector3f[2];
+        vectors[0] = new Vector3f(0, 0, 0);
+        vectors[1] = new Vector3f(1, 1, 1);
+        GesturePath path = new GesturePath(vectors);
+        PathSegment[] segments = path.getSegments();
+        assertEquals(1, segments.length);
+        assertEquals(new Vector3f(0, 0, 0), segments[0].getStart());
+        assertEquals(new Vector3f(1, 1, 1), segments[0].getEnd());
+        assertEquals(new Vector3f(0.5f, 0.5f, 0.5f), segments[0].interpolate(0.5));
+    }
+
+
+    @Test
+    @DisplayName("Test Path Segment Interpolation")
+    public void test_pathSegmentInterpolation() {
+        Vector3f start = new Vector3f(0, 0, 0);
+        Vector3f end = new Vector3f(1, 1, 1);
+        PathSegment segment = new PathSegment(start, end);
+        assertEquals(new Vector3f(0.5f, 0.5f, 0.5f), segment.interpolate(0.5));
+    }
+
+
+}

From 3edab82535898a82d22f7eb71dc6345ccbfabb2e Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Fri, 17 May 2024 12:42:10 +0200
Subject: [PATCH 32/33] Added example exercises

---
 .../fitbot/exercise/AbstractExercise.java     | 18 ++++----
 .../example/fitbot/exercise/EMuscleGroup.java | 18 +++++++-
 .../exercise/exercises/BicepCurlExercise.java | 45 +++++++++++++++++++
 3 files changed, 72 insertions(+), 9 deletions(-)
 create mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/exercises/BicepCurlExercise.java

diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
index 2265269..2a7d4d6 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
@@ -10,7 +10,7 @@ import java.util.Objects;
 
 public abstract class AbstractExercise implements IWebSocketHandler {
 
-    private EMuscleGroup muscleGroup;
+    private EMuscleGroup[] muscleGroups;
     private EExerciseType exerciseType;
     private GesturePath path;
 
@@ -22,12 +22,12 @@ public abstract class AbstractExercise implements IWebSocketHandler {
     /**
      * Constructor for the AbstractExercise class.
      *
-     * @param muscleGroup  The muscle group of the exercise.
+     * @param muscleGroups  The muscle group of the exercise.
      * @param exerciseType The type of exercise.
      * @param path         The path of the exercise.
      */
-    public AbstractExercise(EMuscleGroup muscleGroup, EExerciseType exerciseType, GesturePath path) {
-        this.muscleGroup = muscleGroup;
+    public AbstractExercise(EMuscleGroup[] muscleGroups, EExerciseType exerciseType, GesturePath path) {
+        this.muscleGroups = muscleGroups;
         this.exerciseType = exerciseType;
         this.path = path;
     }
@@ -36,7 +36,7 @@ public abstract class AbstractExercise implements IWebSocketHandler {
      * Start the exercise.
      * This method starts a WebSocket server
      */
-    public void startExercise() {
+    public final void startExercise() {
 
         // Ensure no other exercise is active.
         if (currentExercise != null && currentExercise != this) {
@@ -81,6 +81,8 @@ public abstract class AbstractExercise implements IWebSocketHandler {
             webSocket.stop();
             webSocket = null;
         }
+        currentExercise = null;
+        this.onStopExercise();
     }
 
     /**
@@ -91,7 +93,7 @@ public abstract class AbstractExercise implements IWebSocketHandler {
     /**
      * Method for stopping this exercise.
      */
-    public abstract void stopExercise();
+    public abstract void onStopExercise();
 
     /**
      * Check if the current exercise is the current activity.
@@ -103,8 +105,8 @@ public abstract class AbstractExercise implements IWebSocketHandler {
     /**
      * Get the muscle group of the exercise.
      */
-    public EMuscleGroup getMuscleGroup() {
-        return muscleGroup;
+    public EMuscleGroup[] getMuscleGroup() {
+        return muscleGroups;
     }
 
     /**
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
index 3a25740..b3f2c4e 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
@@ -1,5 +1,21 @@
 package com.example.fitbot.exercise;
 
 public enum EMuscleGroup {
-   // TODO: Implement
+    // TODO: Implement
+
+    TORSO(0),
+    ARMS(1),
+    LEGS(2),
+    BALANCE(3);
+
+    int muscleGroupIdentifier;
+
+    EMuscleGroup(int identifier) {
+        this.muscleGroupIdentifier = identifier;
+    }
+
+    public int getIdentifier() {
+        return this.muscleGroupIdentifier;
+    }
+
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/exercises/BicepCurlExercise.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/exercises/BicepCurlExercise.java
new file mode 100644
index 0000000..e9faf79
--- /dev/null
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/exercises/BicepCurlExercise.java
@@ -0,0 +1,45 @@
+package com.example.fitbot.exercise.exercises;
+
+import com.example.fitbot.exercise.AbstractExercise;
+import com.example.fitbot.exercise.EExerciseType;
+import com.example.fitbot.exercise.EMuscleGroup;
+import com.example.fitbot.exercise.FitnessManager;
+import com.example.fitbot.util.server.WebSocket;
+
+import java.net.Socket;
+
+public class BicepCurlExercise extends AbstractExercise {
+
+    private static final String UNIQUE_ID = "bicep_curl";
+
+    /**
+     * Constructor for the BicepCurlExercise class.
+     */
+    public BicepCurlExercise() {
+        super(
+                new EMuscleGroup[] { EMuscleGroup.ARMS },
+                EExerciseType.POWER,
+                FitnessManager.acquirePath(UNIQUE_ID)
+        );
+    }
+
+    @Override
+    public boolean isActivityFinished() {
+        return false;
+    }
+
+    @Override
+    public void onStopExercise() {
+
+    }
+
+    @Override
+    public void onMessageReceived(WebSocket.Message message, WebSocket.MessageReply replier) {
+
+    }
+
+    @Override
+    public void onError(Socket socket, String error) {
+
+    }
+}

From cfcbe7d51c6e052c1cc9f930c6915c68de5fc73f Mon Sep 17 00:00:00 2001
From: Luca Warmenhoven <luca.warmenhoven@hva.nl>
Date: Fri, 17 May 2024 13:25:50 +0200
Subject: [PATCH 33/33] Added Gson for JSON parsing, added Exercise retriever

---
 code/src/Fitbot/app/build.gradle              |  4 ++
 .../Fitbot/app/src/main/AndroidManifest.xml   |  3 +-
 .../fitbot/exercise/AbstractExercise.java     | 33 ++-------
 .../fitbot/exercise/EExerciseType.java        | 18 -----
 .../example/fitbot/exercise/EMuscleGroup.java |  9 +++
 .../fitbot/exercise/FitnessManager.java       | 71 ++++++++++++++++++-
 .../exercise/exercises/BicepCurlExercise.java | 45 ------------
 7 files changed, 89 insertions(+), 94 deletions(-)
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EExerciseType.java
 delete mode 100644 code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/exercises/BicepCurlExercise.java

diff --git a/code/src/Fitbot/app/build.gradle b/code/src/Fitbot/app/build.gradle
index f3a2fea..6494462 100644
--- a/code/src/Fitbot/app/build.gradle
+++ b/code/src/Fitbot/app/build.gradle
@@ -35,7 +35,11 @@ dependencies {
     implementation 'com.android.support:cardview-v7:28.0.0'
     implementation 'com.android.support:design:28.0.0'
     implementation 'org.joml:joml:1.10.5'
+    implementation 'com.google.code.gson:gson:2.8.6'
     testImplementation 'junit:junit:4.13.2'
+    testImplementation 'org.junit.jupiter:junit-jupiter'
+    testImplementation 'org.junit.jupiter:junit-jupiter'
+    testImplementation 'org.junit.jupiter:junit-jupiter'
     androidTestImplementation 'com.android.support.test:runner:1.0.2'
     androidTestImplementation 'com.android.support.test.espresso:espresso-core:3.0.2'
 	implementation 'com.aldebaran:qisdk:1.7.5'
diff --git a/code/src/Fitbot/app/src/main/AndroidManifest.xml b/code/src/Fitbot/app/src/main/AndroidManifest.xml
index 23755ba..8578a7c 100644
--- a/code/src/Fitbot/app/src/main/AndroidManifest.xml
+++ b/code/src/Fitbot/app/src/main/AndroidManifest.xml
@@ -15,8 +15,9 @@
         android:roundIcon="@mipmap/ic_launcher_round"
         android:supportsRtl="true"
         android:theme="@style/Theme.Fitbot" >
+        <!--android:name=".ui.activities.MainActivity"-->
         <activity
-            android:name=".ui.activities.MainActivity"
+            android:name=".ui.activities.FitnessActivity"
             android:exported="true" >
             <intent-filter>
                 <action android:name="android.intent.action.MAIN" />
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
index 2a7d4d6..daf7d8b 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/AbstractExercise.java
@@ -10,8 +10,7 @@ import java.util.Objects;
 
 public abstract class AbstractExercise implements IWebSocketHandler {
 
-    private EMuscleGroup[] muscleGroups;
-    private EExerciseType exerciseType;
+    private EMuscleGroup muscleGroup;
     private GesturePath path;
 
     // Static fields.
@@ -22,13 +21,11 @@ public abstract class AbstractExercise implements IWebSocketHandler {
     /**
      * Constructor for the AbstractExercise class.
      *
-     * @param muscleGroups  The muscle group of the exercise.
-     * @param exerciseType The type of exercise.
+     * @param muscleGroup  The muscle group of the exercise.
      * @param path         The path of the exercise.
      */
-    public AbstractExercise(EMuscleGroup[] muscleGroups, EExerciseType exerciseType, GesturePath path) {
-        this.muscleGroups = muscleGroups;
-        this.exerciseType = exerciseType;
+    public AbstractExercise(EMuscleGroup muscleGroup,  GesturePath path) {
+        this.muscleGroup = muscleGroup;
         this.path = path;
     }
 
@@ -82,19 +79,8 @@ public abstract class AbstractExercise implements IWebSocketHandler {
             webSocket = null;
         }
         currentExercise = null;
-        this.onStopExercise();
     }
 
-    /**
-     * Method for checking whether the activity is finished.
-     */
-    public abstract boolean isActivityFinished();
-
-    /**
-     * Method for stopping this exercise.
-     */
-    public abstract void onStopExercise();
-
     /**
      * Check if the current exercise is the current activity.
      */
@@ -105,15 +91,8 @@ public abstract class AbstractExercise implements IWebSocketHandler {
     /**
      * Get the muscle group of the exercise.
      */
-    public EMuscleGroup[] getMuscleGroup() {
-        return muscleGroups;
-    }
-
-    /**
-     * Get the exercise type.
-     */
-    public EExerciseType getExerciseType() {
-        return exerciseType;
+    public EMuscleGroup getMuscleGroup() {
+        return muscleGroup;
     }
 
     /**
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EExerciseType.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EExerciseType.java
deleted file mode 100644
index ee4b7b1..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EExerciseType.java
+++ /dev/null
@@ -1,18 +0,0 @@
-package com.example.fitbot.exercise;
-
-public enum EExerciseType {
-
-    FITNESS("Fitness"),
-    POWER("Krachttrening");
-
-    private final String name;
-
-    EExerciseType(String name) {
-        this.name = name;
-    }
-
-    public String getName() {
-        return name;
-    }
-
-}
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
index b3f2c4e..27ff244 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/EMuscleGroup.java
@@ -18,4 +18,13 @@ public enum EMuscleGroup {
         return this.muscleGroupIdentifier;
     }
 
+    public static EMuscleGroup parse(int identifier) {
+        for (EMuscleGroup muscleGroup : EMuscleGroup.values()) {
+            if (muscleGroup.getIdentifier() == identifier) {
+                return muscleGroup;
+            }
+        }
+        return null;
+    }
+
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java
index e8404d1..ada8292 100644
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java
+++ b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/FitnessManager.java
@@ -1,11 +1,16 @@
 package com.example.fitbot.exercise;
 
 import com.example.fitbot.util.path.GesturePath;
+import com.google.gson.JsonObject;
+import com.google.gson.JsonParser;
+
+import org.joml.Vector3f;
 
 import java.io.BufferedReader;
 import java.io.IOException;
 import java.io.InputStream;
 import java.io.InputStreamReader;
+import java.lang.reflect.Constructor;
 import java.net.URL;
 import java.net.URLConnection;
 
@@ -13,6 +18,11 @@ public class FitnessManager {
 
     private static final String HOST_ADDRESS = "http://145.92.8.132";
 
+    private static final String PROPERTY_DESC = "description";
+    private static final String PROPERTY_VECTORS = "vector_data";
+    private static final String PROPERTY_NAME = "name";
+    private static final String PROPERTY_MUSCLE_GROUP = "muscle_group";
+
     private static String sendHTTP(String url, String method, String contentType, String body) {
         try {
             URLConnection connection = new URL(url).openConnection();
@@ -34,15 +44,70 @@ public class FitnessManager {
         return null;
     }
 
-    public static GesturePath acquirePath(String uniqueIdentifier) {
+    /**
+     * Function for retrieving an exercise from the Raspberry Pi Database.
+     *
+     * @param uniqueIdentifier The unique identifier of the exercise
+     * @return The exercise, if it exists on the server. Otherwise null.
+     */
+    public static <T extends AbstractExercise> AbstractExercise acquireExercise(String uniqueIdentifier, Class<T> referenceClass) {
         String response = sendHTTP(
                 HOST_ADDRESS + "/acquire", "GET", "application/json", "{\"kind\":\"" + uniqueIdentifier + "\"}"
         );
         // Validate the response
-        if ( response != null ) {
-
+        if (response != null) {
+            try {
+                JsonObject content = JsonParser.parseString(response).getAsJsonObject();
+                Constructor<T> constructor = referenceClass.getConstructor(referenceClass);
+                T instance = null;
+                try {
+                    instance = constructor.newInstance(
+                            EMuscleGroup.parse(content.get(PROPERTY_MUSCLE_GROUP).getAsInt()),
+                            gesturePathFromString(content.get(PROPERTY_VECTORS).getAsString())
+                    );
+                } catch (Exception e) {
+                    e.printStackTrace();
+                }
+                return instance;
+            } catch (Exception e) {
+                e.printStackTrace();
+            }
         }
         return null;
     }
 
+    /**
+     * Function for converting a string to a GesturePath object.
+     * The input string bytes will be directly converted into 3d vectors.
+     * Every coordinate is composed of 32 bits, so four characters per coordinate.
+     *
+     * @param input The string to convert
+     * @return The GesturePath object
+     */
+    private static GesturePath gesturePathFromString(String input) {
+        byte[] bytes = input.getBytes();
+
+        // Check if the input string contains a valid amount of bytes (12 bytes per vector)
+        if (input.length() % 12 != 0) {
+            throw new IllegalArgumentException("Invalid input string length");
+        }
+        GesturePath.Builder builder = new GesturePath.Builder();
+
+        float[] xyz = new float[3];
+        for (int i = 0; i < bytes.length; i += 12) {
+            for (int j = 0; j < 3; j++) {
+                xyz[j] = Float.intBitsToFloat(
+                                (bytes[i + j * 4] & 0xFF) << 24 |
+                                (bytes[i + j * 4 + 1] & 0xFF) << 16 |
+                                (bytes[i + j * 4 + 2] & 0xFF) << 8 |
+                                (bytes[i + j * 4 + 3] & 0xFF)
+                );
+            }
+            builder.addVector(new Vector3f(
+                    xyz[0], xyz[1], xyz[2]
+            ));
+        }
+        return builder.build();
+    }
+
 }
diff --git a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/exercises/BicepCurlExercise.java b/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/exercises/BicepCurlExercise.java
deleted file mode 100644
index e9faf79..0000000
--- a/code/src/Fitbot/app/src/main/java/com/example/fitbot/exercise/exercises/BicepCurlExercise.java
+++ /dev/null
@@ -1,45 +0,0 @@
-package com.example.fitbot.exercise.exercises;
-
-import com.example.fitbot.exercise.AbstractExercise;
-import com.example.fitbot.exercise.EExerciseType;
-import com.example.fitbot.exercise.EMuscleGroup;
-import com.example.fitbot.exercise.FitnessManager;
-import com.example.fitbot.util.server.WebSocket;
-
-import java.net.Socket;
-
-public class BicepCurlExercise extends AbstractExercise {
-
-    private static final String UNIQUE_ID = "bicep_curl";
-
-    /**
-     * Constructor for the BicepCurlExercise class.
-     */
-    public BicepCurlExercise() {
-        super(
-                new EMuscleGroup[] { EMuscleGroup.ARMS },
-                EExerciseType.POWER,
-                FitnessManager.acquirePath(UNIQUE_ID)
-        );
-    }
-
-    @Override
-    public boolean isActivityFinished() {
-        return false;
-    }
-
-    @Override
-    public void onStopExercise() {
-
-    }
-
-    @Override
-    public void onMessageReceived(WebSocket.Message message, WebSocket.MessageReply replier) {
-
-    }
-
-    @Override
-    public void onError(Socket socket, String error) {
-
-    }
-}