Java wrapper for Xsens motion capture system SDK

This article describes the process of developing Java interface for Xsens motion capture Xbus Kit system. The system uses small and lightweight inertial motion trackers which are mounted on human body parts. The trackers transmit real time motion data into a PC wirelessly. Xbus Kit is distributed with C/C++ SDK, but many developers use Java language. It resulted in the necessity to develop a Java language wrapper for the SDK. The described wrapper uses Java Native Interface technology to connect with the native code. JNI is presented in this article, too. The developed wrapper has got two different data acquisition methods based on the pull and push models. Both of them were compared and results of their comparison are included in the article.