103 lines
3.2 KiB
C++
103 lines
3.2 KiB
C++
/*
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* Copyright (C) 2010 The Android Open Source Project
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*/
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#include <stdint.h>
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#include <math.h>
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#include <sys/types.h>
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#include <utils/Errors.h>
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#include <hardware/sensors.h>
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#include "RotationVectorSensor.h"
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namespace android {
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// ---------------------------------------------------------------------------
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template <typename T>
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static inline T clamp(T v) {
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return v < 0 ? 0 : v;
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}
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RotationVectorSensor::RotationVectorSensor()
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: mSensorDevice(SensorDevice::getInstance()),
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mSensorFusion(SensorFusion::getInstance())
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{
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}
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bool RotationVectorSensor::process(sensors_event_t* outEvent,
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const sensors_event_t& event)
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{
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if (event.type == SENSOR_TYPE_ACCELEROMETER) {
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if (mSensorFusion.hasEstimate()) {
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const mat33_t R(mSensorFusion.getRotationMatrix());
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// matrix to rotation vector (normalized quaternion)
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const float Hx = R[0].x;
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const float My = R[1].y;
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const float Az = R[2].z;
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float qw = sqrtf( clamp( Hx + My + Az + 1) * 0.25f );
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float qx = sqrtf( clamp( Hx - My - Az + 1) * 0.25f );
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float qy = sqrtf( clamp(-Hx + My - Az + 1) * 0.25f );
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float qz = sqrtf( clamp(-Hx - My + Az + 1) * 0.25f );
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qx = copysignf(qx, R[2].y - R[1].z);
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qy = copysignf(qy, R[0].z - R[2].x);
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qz = copysignf(qz, R[1].x - R[0].y);
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// this quaternion is guaranteed to be normalized, by construction
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// of the rotation matrix.
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*outEvent = event;
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outEvent->data[0] = qx;
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outEvent->data[1] = qy;
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outEvent->data[2] = qz;
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outEvent->data[3] = qw;
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outEvent->sensor = '_rov';
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outEvent->type = SENSOR_TYPE_ROTATION_VECTOR;
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return true;
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}
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}
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return false;
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}
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status_t RotationVectorSensor::activate(void* ident, bool enabled) {
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return mSensorFusion.activate(this, enabled);
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}
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status_t RotationVectorSensor::setDelay(void* ident, int handle, int64_t ns) {
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return mSensorFusion.setDelay(this, ns);
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}
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Sensor RotationVectorSensor::getSensor() const {
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sensor_t hwSensor;
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hwSensor.name = "Rotation Vector Sensor";
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hwSensor.vendor = "Google Inc.";
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hwSensor.version = mSensorFusion.hasGyro() ? 3 : 2;
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hwSensor.handle = '_rov';
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hwSensor.type = SENSOR_TYPE_ROTATION_VECTOR;
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hwSensor.maxRange = 1;
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hwSensor.resolution = 1.0f / (1<<24);
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hwSensor.power = mSensorFusion.getPowerUsage();
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hwSensor.minDelay = mSensorFusion.getMinDelay();
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Sensor sensor(&hwSensor);
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return sensor;
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}
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// ---------------------------------------------------------------------------
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}; // namespace android
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