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Commit 0c76c7c5 authored by Mathias Agopian's avatar Mathias Agopian Committed by Android (Google) Code Review
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Merge "add new sensor types for handling gyro data and device orientation more... 

Merge "add new sensor types for handling gyro data and device orientation more efficiently." into gingerbread
parents e7aa645a 7a0541d6

api/current.xml

+80 −0
Original line number Diff line number Diff line
@@ -77659,6 +77659,17 @@ 
 visibility="public"

>

</field>

<field name="TYPE_GRAVITY"

 type="int"

 transient="false"

 volatile="false"

 value="9"

 static="true"

 final="true"

 deprecated="not deprecated"

 visibility="public"

>

</field>

<field name="TYPE_GYROSCOPE"

 type="int"

 transient="false"
@@ -77681,6 +77692,17 @@ 
 visibility="public"

>

</field>

<field name="TYPE_LINEAR_ACCELERATION"

 type="int"

 transient="false"

 volatile="false"

 value="10"

 static="true"

 final="true"

 deprecated="not deprecated"

 visibility="public"

>

</field>

<field name="TYPE_MAGNETIC_FIELD"

 type="int"

 transient="false"
@@ -77725,6 +77747,17 @@ 
 visibility="public"

>

</field>

<field name="TYPE_ROTATION_VECTOR"

 type="int"

 transient="false"

 volatile="false"

 value="11"

 static="true"

 final="true"

 deprecated="not deprecated"

 visibility="public"

>

</field>

<field name="TYPE_TEMPERATURE"

 type="int"

 transient="false"
@@ -77884,6 +77917,23 @@ 
<parameter name="p" type="float">

</parameter>

</method>

<method name="getAngleChange"

 return="void"

 abstract="false"

 native="false"

 synchronized="false"

 static="true"

 final="false"

 deprecated="not deprecated"

 visibility="public"

>

<parameter name="angleChange" type="float[]">

</parameter>

<parameter name="R" type="float[]">

</parameter>

<parameter name="prevR" type="float[]">

</parameter>

</method>

<method name="getDefaultSensor"

 return="android.hardware.Sensor"

 abstract="false"
@@ -77925,6 +77975,21 @@ 
<parameter name="values" type="float[]">

</parameter>

</method>

<method name="getQuaternionFromVector"

 return="void"

 abstract="false"

 native="false"

 synchronized="false"

 static="true"

 final="false"

 deprecated="not deprecated"

 visibility="public"

>

<parameter name="Q" type="float[]">

</parameter>

<parameter name="rv" type="float[]">

</parameter>

</method>

<method name="getRotationMatrix"

 return="boolean"

 abstract="false"
@@ -77944,6 +78009,21 @@ 
<parameter name="geomagnetic" type="float[]">

</parameter>

</method>

<method name="getRotationMatrixFromVector"

 return="void"

 abstract="false"

 native="false"

 synchronized="false"

 static="true"

 final="false"

 deprecated="not deprecated"

 visibility="public"

>

<parameter name="R" type="float[]">

</parameter>

<parameter name="rotationVector" type="float[]">

</parameter>

</method>

<method name="getSensorList"

 return="java.util.List&lt;android.hardware.Sensor&gt;"

 abstract="false"

core/java/android/hardware/Sensor.java

+21 −0
Original line number Diff line number Diff line
@@ -76,6 +76,27 @@ public class Sensor { 
     */

    public static final int TYPE_PROXIMITY = 8;



    /**

     * A constant describing a gravity sensor type.

     * See {@link android.hardware.SensorEvent SensorEvent}

     * for more details.

     */

    public static final int TYPE_GRAVITY = 9;



    /**

     * A constant describing a linear acceleration sensor type.

     * See {@link android.hardware.SensorEvent SensorEvent}

     * for more details.

     */

    public static final int TYPE_LINEAR_ACCELERATION = 10;



    /**

     * A constant describing a rotation vector sensor type.

     * See {@link android.hardware.SensorEvent SensorEvent}

     * for more details.

     */

    public static final int TYPE_ROTATION_VECTOR = 11;



    /** 

     * A constant describing all sensor types.

     */

core/java/android/hardware/SensorEvent.java

+32 −0
Original line number Diff line number Diff line
@@ -133,6 +133,16 @@ public class SensorEvent { 
     * All values are in micro-Tesla (uT) and measure the ambient magnetic field

     * in the X, Y and Z axis.

     * 

     * <h4>{@link android.hardware.Sensor#TYPE_GYROSCOPE Sensor.TYPE_GYROSCOPE}:</h4>

     *  All values are in radians/second and measure the rate of rotation

     *  around the X, Y and Z axis. The coordinate system is the same as is

     *  used for the acceleration sensor.  Rotation is positive in the counter-clockwise

     *  direction.  That is, an observer looking from some positive location on the x, y.

     *  or z axis at a device positioned on the origin would report positive rotation

     *  if the device appeared to be rotating counter clockwise.  Note that this is the

     *  standard mathematical definition of positive rotation and does not agree with the

     *  definition of roll given earlier.

     *

     * <h4>{@link android.hardware.Sensor#TYPE_LIGHT Sensor.TYPE_LIGHT}:</h4>

     * 

     * <ul>
@@ -155,6 +165,27 @@ public class SensorEvent { 
     * the <i>far</i> state and a lesser value in the <i>near</i> state.

     * </p>

     * 

     *  <h4>{@link android.hardware.Sensor#TYPE_GRAVITY Sensor.TYPE_GRAVITY}:</h4>

     *  A three dimensional vector indicating the direction and magnitude of gravity.  Units

     *  are m/s^2.  The coordinate system is the same as is used by the acceleration sensor.

     *

     *  <h4>{@link android.hardware.Sensor#TYPE_LINEAR_ACCELERATION Sensor.TYPE_LINEAR_ACCELERATION}:</h4>

     *  A three dimensional vector indicating acceleration along each device axis, not including

     *  gravity.  All values have units of m/s^2.  The coordinate system is the same as is used by the

     * acceleration sensor.

     *

     *  <h4>{@link android.hardware.Sensor#TYPE_ROTATION_VECTOR Sensor.TYPE_ROTATION_VECTOR}:</h4>

     *  The rotation vector represents the orientation of the device as a combination of an angle

     *  and an axis, in which the device has rotated through an angle theta around an axis

     *  <x, y, z>. The three elements of the rotation vector are

     *  <x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>, such that the magnitude of the rotation

     *  vector is equal to sin(theta/2), and the direction of the rotation vector is equal to the

     *  direction of the axis of rotation. The three elements of the rotation vector are equal to

     *  the last three components of a unit quaternion

     *  <cos(theta/2), x*sin(theta/2), y*sin(theta/2), z*sin(theta/2)>.  Elements of the rotation

     *  vector are unitless.  The x,y, and z axis are defined in the same way as the acceleration

     *  sensor.

     *

     * <h4>{@link android.hardware.Sensor#TYPE_ORIENTATION

     * Sensor.TYPE_ORIENTATION}:</h4> All values are angles in degrees.

     *
@@ -201,6 +232,7 @@ public class SensorEvent { 
     * @see SensorEvent

     * @see GeomagneticField

     */



    public final float[] values;



    /**

core/java/android/hardware/SensorManager.java

+177 −0
Original line number Diff line number Diff line
@@ -1769,6 +1769,183 @@ public 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 x,y, and z axes which

     *  transforms prevR to R.

     *  outputs a 3 element vector containing the x,y, and z angle

     *  change at indexes 0, 1, and 2 respectively.

     * <p> Each input matrix is either as a 3x3 or 4x4 row-major matrix

     * depending on the length of the passed array:

     * <p>If the array length is 9, then the array elements represent this matrix

     * <pre>

     *   /  R[ 0]   R[ 1]   R[ 2]   \

     *   |  R[ 3]   R[ 4]   R[ 5]   |

     *   \  R[ 6]   R[ 7]   R[ 8]   /

     *</pre>

     * <p>If the array length is 16, then the array elements represent this matrix

     * <pre>

     *   /  R[ 0]   R[ 1]   R[ 2]   R[ 3]  \

     *   |  R[ 4]   R[ 5]   R[ 6]   R[ 7]  |

     *   |  R[ 8]   R[ 9]   R[10]   R[11]  |

     *   \  R[12]   R[13]   R[14]   R[15]  /

     *</pre>

     * @param R current rotation matrix

     * @param prevR previous rotation matrix

     * @param angleChange an array of floats in which the angle change is stored

     */



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

        float rd1=0,rd4=0, rd6=0,rd7=0, rd8=0;

        float ri0=0,ri1=0,ri2=0,ri3=0,ri4=0,ri5=0,ri6=0,ri7=0,ri8=0;

        float pri0=0, pri1=0, pri2=0, pri3=0, pri4=0, pri5=0, pri6=0, pri7=0, pri8=0;

        int i, j, k;



        if(R.length == 9) {

            ri0 = R[0];

            ri1 = R[1];

            ri2 = R[2];

            ri3 = R[3];

            ri4 = R[4];

            ri5 = R[5];

            ri6 = R[6];

            ri7 = R[7];

            ri8 = R[8];

        } else if(R.length == 16) {

            ri0 = R[0];

            ri1 = R[1];

            ri2 = R[2];

            ri3 = R[4];

            ri4 = R[5];

            ri5 = R[6];

            ri6 = R[8];

            ri7 = R[9];

            ri8 = R[10];

        }



        if(prevR.length == 9) {

            pri0 = R[0];

            pri1 = R[1];

            pri2 = R[2];

            pri3 = R[3];

            pri4 = R[4];

            pri5 = R[5];

            pri6 = R[6];

            pri7 = R[7];

            pri8 = R[8];

        } else if(prevR.length == 16) {

            pri0 = R[0];

            pri1 = R[1];

            pri2 = R[2];

            pri3 = R[4];

            pri4 = R[5];

            pri5 = R[6];

            pri6 = R[8];

            pri7 = R[9];

            pri8 = R[10];

        }



        // calculate the parts of the rotation difference matrix we need

        // rd[i][j] = pri[0][i] * ri[0][j] + pri[1][i] * ri[1][j] + pri[2][i] * ri[2][j];



        rd1 = pri0 * ri1 + pri3 * ri4 + pri6 * ri7; //rd[0][1]

        rd4 = pri1 * ri1 + pri4 * ri4 + pri7 * ri7; //rd[1][1]

        rd6 = pri2 * ri0 + pri5 * ri3 + pri8 * ri6; //rd[2][0]

        rd7 = pri2 * ri1 + pri5 * ri4 + pri8 * ri7; //rd[2][1]

        rd8 = pri2 * ri2 + pri5 * ri5 + pri8 * ri8; //rd[2][2]



        angleChange[0] = (float)Math.atan2(rd1, rd4);

        angleChange[1] = (float)Math.asin(-rd7);

        angleChange[2] = (float)Math.atan2(-rd6, rd8);



    }



    /** Helper function to convert a rotation vector to a rotation matrix.

     *  Given a rotation vector (presumably from a ROTATION_VECTOR sensor), returns a

     *  9  or 16 element rotation matrix in the array R.  R must have length 9 or 16.

     *  If R.length == 9, the following matrix is returned:

     * <pre>

     *   /  R[ 0]   R[ 1]   R[ 2]   \

     *   |  R[ 3]   R[ 4]   R[ 5]   |

     *   \  R[ 6]   R[ 7]   R[ 8]   /

     *</pre>

     * If R.length == 16, the following matrix is returned:

     * <pre>

     *   /  R[ 0]   R[ 1]   R[ 2]   0  \

     *   |  R[ 4]   R[ 5]   R[ 6]   0  |

     *   |  R[ 8]   R[ 9]   R[10]   0  |

     *   \  0       0       0       1  /

     *</pre>

     *  @param rotationVector the rotation vector to convert

     *  @param R an array of floats in which to store the rotation matrix

     */

    public static void getRotationMatrixFromVector(float[] R, float[] rotationVector) {

        float q0 = (float)Math.sqrt(1 - rotationVector[0]*rotationVector[0] -

                                    rotationVector[1]*rotationVector[1] -

                                    rotationVector[2]*rotationVector[2]);

        float q1 = rotationVector[0];

        float q2 = rotationVector[1];

        float q3 = rotationVector[2];



        float sq_q1 = 2 * q1 * q1;

        float sq_q2 = 2 * q2 * q2;

        float sq_q3 = 2 * q3 * q3;

        float q1_q2 = 2 * q1 * q2;

        float q3_q0 = 2 * q3 * q0;

        float q1_q3 = 2 * q1 * q3;

        float q2_q0 = 2 * q2 * q0;

        float q2_q3 = 2 * q2 * q3;

        float q1_q0 = 2 * q1 * q0;



        if(R.length == 9) {

            R[0] = 1 - sq_q2 - sq_q3;

            R[1] = q1_q2 - q3_q0;

            R[2] = q1_q3 + q2_q0;



            R[3] = q1_q2 + q3_q0;

            R[4] = 1 - sq_q1 - sq_q3;

            R[5] = q2_q3 - q1_q0;



            R[6] = q1_q3 - q2_q0;

            R[7] = q2_q3 + q1_q0;

            R[8] = 1 - sq_q1 - sq_q2;

        } else if (R.length == 16) {

            R[0] = 1 - sq_q2 - sq_q3;

            R[1] = q1_q2 - q3_q0;

            R[2] = q1_q3 + q2_q0;

            R[3] = 0.0f;



            R[4] = q1_q2 + q3_q0;

            R[5] = 1 - sq_q1 - sq_q3;

            R[6] = q2_q3 - q1_q0;

            R[7] = 0.0f;



            R[8] = q1_q3 - q2_q0;

            R[9] = q2_q3 + q1_q0;

            R[10] = 1 - sq_q1 - sq_q2;

            R[11] = 0.0f;



            R[12] = R[13] = R[14] = 0.0f;

            R[15] = 1.0f;

        }

    }



    /** Helper function to convert a rotation vector to a normalized quaternion.

     *  Given a rotation vector (presumably from a ROTATION_VECTOR sensor), returns a normalized

     *  quaternion in the array Q.  The quaternion is stored as [w, x, y, z]

     *  @param rv the rotation vector to convert

     *  @param Q an array of floats in which to store the computed quaternion

     */

    public static void getQuaternionFromVector(float[] Q, float[] rv) {

        float w = (float)Math.sqrt(1 - rv[0]*rv[0] - rv[1]*rv[1] - rv[2]*rv[2]);

        //In this case, the w component of the quaternion is known to be a positive number



        Q[0] = w;

        Q[1] = rv[0];

        Q[2] = rv[1];

        Q[3] = rv[2];

    }



    private static native void nativeClassInit();



    private static native int sensors_module_init();