Merge "Bug fix and documentation clarification" into mnc-dev (08ecf676) · Commits · e / os / android_frameworks_base

core/java/android/hardware/SensorEvent.java

+3 −1

Original line number	Diff line number	Diff line
		@@ -312,7 +312,7 @@ public class SensorEvent {
		* </p>
		*
		* <p>
		* values[2]: Roll, rotation around the x-axis (-90 to 90)
		* values[2]: Roll, rotation around the y-axis (-90 to 90)
		* increasing as the device moves clockwise.
		* </p>
		* </ul>
		@@ -325,6 +325,8 @@ public class SensorEvent {
		*
		* <p>
		* <b>Note:</b> This sensor type exists for legacy reasons, please use
		* {@link android.hardware.Sensor#TYPE_ROTATION_VECTOR
		* rotation vector sensor type} and
		* {@link android.hardware.SensorManager#getRotationMatrix
		* getRotationMatrix()} in conjunction with
		* {@link android.hardware.SensorManager#remapCoordinateSystem

core/java/android/hardware/SensorManager.java

+33 −26

Original line number	Diff line number	Diff line
		@@ -967,8 +967,9 @@ public abstract class SensorManager {
		* TYPE_MAGNETIC_FIELD}.
		*
		* @return <code>true</code> on success, <code>false</code> on failure (for
		* instance, if the device is in free fall). On failure the output
		* matrices are not modified.
		* instance, if the device is in free fall). Free fall is defined as
		* condition when the magnitude of the gravity is less than 1/10 of
		* the nominal value. On failure the output matrices are not modified.
		*
		* @see #getInclination(float[])
		* @see #getOrientation(float[], float[])
		@@ -981,6 +982,15 @@ public abstract class SensorManager {
		float Ax = gravity[0];
		float Ay = gravity[1];
		float Az = gravity[2];

		final float normsqA = (AxAx + AyAy + Az*Az);
		final float g = 9.81f;
		final float freeFallGravitySquared = 0.01f * g * g;
		if (normsqA < freeFallGravitySquared) {
		// gravity less than 10% of normal value
		return false;
		}

		final float Ex = geomagnetic[0];
		final float Ey = geomagnetic[1];
		final float Ez = geomagnetic[2];
		@@ -988,6 +998,7 @@ public abstract class SensorManager {
		float Hy = EzAx - ExAz;
		float Hz = ExAy - EyAx;
		final float normH = (float)Math.sqrt(HxHx + HyHy + Hz*Hz);

		if (normH < 0.1f) {
		// device is close to free fall (or in space?), or close to
		// magnetic north pole. Typical values are > 100.
		@@ -1117,12 +1128,12 @@ public abstract class SensorManager {
		* returned by {@link #getRotationMatrix}.
		*
		* @param X
		* defines on which world axis and direction the X axis of the device
		* is mapped.
		* defines the axis of the new cooridinate system that coincide with the X axis of the
		* original coordinate system.
		*
		* @param Y
		* defines on which world axis and direction the Y axis of the device
		* is mapped.
		* defines the axis of the new cooridinate system that coincide with the Y axis of the
		* original coordinate system.
		*
		* @param outR
		* the transformed rotation matrix. inR and outR should not be the same
		@@ -1219,27 +1230,18 @@ public abstract class SensorManager {
		* <p>
		* When it returns, the array values is filled with the result:
		* <ul>
		* <li>values[0]: <i>azimuth</i>, rotation around the Z axis.</li>
		* <li>values[1]: <i>pitch</i>, rotation around the X axis.</li>
		* <li>values[0]: <i>azimuth</i>, rotation around the -Z axis,
		* i.e. the opposite direction of Z axis.</li>
		* <li>values[1]: <i>pitch</i>, rotation around the -X axis,
		* i.e the opposite direction of X axis.</li>
		* <li>values[2]: <i>roll</i>, rotation around the Y axis.</li>
		* </ul>
		* <p>The reference coordinate-system used is different from the world
		* coordinate-system defined for the rotation matrix:</p>
		* <ul>
		* <li>X is defined as the vector product <b>Y.Z</b> (It is tangential to
		* the ground at the device's current location and roughly points West).</li>
		* <li>Y is tangential to the ground at the device's current location and
		* points towards the magnetic North Pole.</li>
		* <li>Z points towards the center of the Earth and is perpendicular to the ground.</li>
		* </ul>
		*
		* <p>
		* <center><img src="../../../images/axis_globe_inverted.png"
		* alt="Inverted world coordinate-system diagram." border="0" /></center>
		* </p>
		* <p>
		* Applying these three intrinsic rotations in azimuth, pitch and roll order transforms
		* identity matrix to the rotation matrix given in input R.
		* All three angles above are in <b>radians</b> and <b>positive</b> in the
		* <b>counter-clockwise</b> direction.
		* <b>counter-clockwise</b> direction. Range of output is: azimuth from -π to π,
		* pitch from -π/2 to π/2 and roll from -π to π.
		*
		* @param R
		* rotation matrix see {@link #getRotationMatrix}.
		@@ -1275,6 +1277,7 @@ public abstract class SensorManager {
		values[1] = (float)Math.asin(-R[9]);
		values[2] = (float)Math.atan2(-R[8], R[10]);
		}

		return values;
		}

		@@ -1314,7 +1317,7 @@ public abstract class SensorManager {

		/** Helper function to compute the angle change between two rotation matrices.
		* Given a current rotation matrix (R) and a previous rotation matrix
		* (prevR) computes the rotation around the z,x, and y axes which
		* (prevR) computes the intrinsic rotation around the z, x, and y axes which
		* transforms prevR to R.
		* outputs a 3 element vector containing the z, x, and y angle
		* change at indexes 0, 1, and 2 respectively.
		@@ -1333,9 +1336,13 @@ public abstract class SensorManager {
		* \| R[ 8] R[ 9] R[10] R[11] \|
		* \ R[12] R[13] R[14] R[15] /
		*</pre>
		*
		* See {@link #getOrientation} for more detailed definition of the output.
		*
		* @param R current rotation matrix
		* @param prevR previous rotation matrix
		* @param angleChange an an array of floats (z, x, and y) in which the angle change is stored
		* @param angleChange an an array of floats (z, x, and y) in which the angle change
		* (in radians) is stored
		*/

		public static void getAngleChange( float[] angleChange, float[] R, float[] prevR) {