Smartgloves II

Reference frames

The reference frames are defined such that when the glove is lying flat, all coordinate axes are aligned.

Smartgloves II reference frames.

The Coil Pro reference frames are defined in the images below. Note, the direction of the positive X/Y axes are ambiguous in the tracking data; the two possibilities differ by a 180 degree rotation around the Z-axis.

Coil Pro — top view.

Coil Pro — bottom view.

The table below lists all reference frames used in the Smartgloves II data streams.

Frame Name	Description
hub	The central frame of the Smartgloves II, centered at the circular Rokoko logo.
thumb_finger_sensor	The frame of the sensor located on the thumb.
index_finger_sensor	The frame of the sensor located on the index finger.
middle_finger_sensor	The frame of the sensor located on the middle finger.
ring_finger_sensor	The frame of the sensor located on the ring finger.
little_finger_sensor	The frame of the sensor located on the little finger.
arm_sensor	The frame of the sensor located on the forearm, near the wrist.
coil_pro	The frame located at the center of the Coil Pro.

Status flags

The Smartgloves II data streams include status flags that indicate the tracking status of each sensor. The meaning of each flag is elaborated in the table below.

Flag Name	Description
is_magnetometer_saturated	Whether at least one axis of the magnetometer is saturated.
is_accelerometer_saturated	Whether at least one axis of the accelerometer is saturated.
is_gyroscope_saturated	Whether at least one axis of the gyroscope is saturated.
is_emf_saturated	Whether at least one axis of the electromagnetic field sensor (EMF) is saturated.
not_is_accelerometer_used	Whether the accelerometer is not being used in the sensor fusion.
not_is_magnetometer_used	Whether the magnetometer is not being used in the sensor fusion.
is_coil_pro_present	For Coil Pro tracking. Indicates whether the Coil Pro has been detected. When this is false, the given pose relative to the Coil Pro is not reliable.
emf_flip_decided	For Coil Pro tracking. Indicates whether the system has decided on the ambiguity in EMF initialization
is_heading_reliable	For the provided hub orientation, which is relative to the local tangent plane (LTP). Indicates whether the heading (yaw) component of the orientation is reliable. This is false when the system has not yet converged on the heading estimate.