Merge "allow rotation-vector to have 4 components" into gingerbread (186b68b7) · Commits · e / os / android_frameworks_base

core/java/android/hardware/SensorEvent.java

+35 −13

Original line number	Diff line number	Diff line
		@@ -220,25 +220,47 @@ public class SensorEvent {
		* </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.
		* <p>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.</p>
		* <p><b>Note:</b> When the device is at rest, the output of the gravity sensor should be identical
		* to that of the accelerometer.</p>
		*
		* <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.
		* <p>The output of the accelerometer, gravity and linear-acceleration sensors must obey the
		* following relation:</p>
		* <p><ul>acceleration = gravity + linear-acceleration</ul></p>
		*
		* <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
		* <xsin(theta/2), ysin(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), xsin(theta/2), ysin(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.
		* <p>The rotation vector represents the orientation of the device as a combination of an <i>angle</i>
		* and an <i>axis</i>, in which the device has rotated through an angle &#952 around an axis
		* <x, y, z>.</p>
		* <p>The three elements of the rotation vector are
		* <xsin(&#952/2), ysin(&#952/2), z*sin(&#952/2)>, such that the magnitude of the rotation
		* vector is equal to sin(&#952/2), and the direction of the rotation vector is equal to the
		* direction of the axis of rotation.</p>
		* </p>The three elements of the rotation vector are equal to
		* the last three components of a <b>unit</b> quaternion
		* <cos(&#952/2), xsin(&#952/2), ysin(&#952/2), z*sin(&#952/2)>.</p>
		* <p>Elements of the rotation vector are unitless.
		* The x,y, and z axis are defined in the same way as the acceleration
		* sensor.</p>
		* <ul>
		* <p>
		* values[0]: x*sin(&#952/2)
		* </p>
		* <p>
		* values[1]: y*sin(&#952/2)
		* </p>
		* <p>
		* values[2]: z*sin(&#952/2)
		* </p>
		* <p>
		* values[3]: cos(&#952/2) <i>(optional: only if value.length = 4)</i>
		* </p>
		* </ul>
		*
		* <h4>{@link android.hardware.Sensor#TYPE_ORIENTATION
		* Sensor.TYPE_ORIENTATION}:</h4> All values are angles in degrees.

core/java/android/hardware/SensorManager.java

+14 −7

Original line number	Diff line number	Diff line
		@@ -1938,13 +1938,18 @@ public class SensorManager
		* @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 q0;
		float q1 = rotationVector[0];
		float q2 = rotationVector[1];
		float q3 = rotationVector[2];

		if (rotationVector.length == 4) {
		q0 = rotationVector[3];
		} else {
		q0 = (float)Math.sqrt(1 - q1q1 - q2q2 - q3*q3);
		}

		float sq_q1 = 2 * q1 * q1;
		float sq_q2 = 2 * q2 * q2;
		float sq_q3 = 2 * q3 * q3;
		@@ -1995,10 +2000,12 @@ public class SensorManager
		* @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]);
		if (rv.length == 4) {
		Q[0] = rv[3];
		} else {
		//In this case, the w component of the quaternion is known to be a positive number

		Q[0] = w;
		Q[0] = (float)Math.sqrt(1 - rv[0]rv[0] - rv[1]rv[1] - rv[2]*rv[2]);
		}
		Q[1] = rv[0];
		Q[2] = rv[1];
		Q[3] = rv[2];

services/sensorservice/RotationVectorSensor.cpp

+1 −0

Original line number	Diff line number	Diff line
		@@ -125,6 +125,7 @@ bool RotationVectorSensor::process(sensors_event_t* outEvent,
		outEvent->data[0] = qx;
		outEvent->data[1] = qy;
		outEvent->data[2] = qz;
		outEvent->data[3] = qw;
		outEvent->sensor = '_rov';
		outEvent->type = SENSOR_TYPE_ROTATION_VECTOR;
		return true;