add new sensor types for handling gyro data and device orientation
more efficiently.
Change-Id: Ifbcf2caae0865eccf1c9b8060342185c22145a30
diff --git a/api/current.xml b/api/current.xml
index e7b0e3b..48c7aeb 100644
--- a/api/current.xml
+++ b/api/current.xml
@@ -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<android.hardware.Sensor>"
abstract="false"
diff --git a/core/java/android/hardware/Sensor.java b/core/java/android/hardware/Sensor.java
index b49a409..f2b907b 100644
--- a/core/java/android/hardware/Sensor.java
+++ b/core/java/android/hardware/Sensor.java
@@ -77,6 +77,27 @@
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.
*/
public static final int TYPE_ALL = -1;
diff --git a/core/java/android/hardware/SensorEvent.java b/core/java/android/hardware/SensorEvent.java
index 70519ff..6212e1b 100644
--- a/core/java/android/hardware/SensorEvent.java
+++ b/core/java/android/hardware/SensorEvent.java
@@ -133,6 +133,16 @@
* 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 @@
* 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 @@
* @see SensorEvent
* @see GeomagneticField
*/
+
public final float[] values;
/**
diff --git a/core/java/android/hardware/SensorManager.java b/core/java/android/hardware/SensorManager.java
index d2c3eaa..97921fe 100644
--- a/core/java/android/hardware/SensorManager.java
+++ b/core/java/android/hardware/SensorManager.java
@@ -1769,6 +1769,183 @@
}
+ /** 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();