Merge "fix SensorManager.getAngleChange() documentation" into jb-dev

    /** 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

     *  (prevR) computes the rotation around the z,x, and y axes which

     *  transforms prevR to R.

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

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

     *</pre>

     * @param R current rotation matrix

     * @param prevR previous rotation matrix

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

     * @param angleChange an an array of floats (z, x, and y) 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];