INSTALL(FILES include/sensor.h DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/sensor)
INSTALL(TARGETS ${PROJECT_NAME} LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR})
-ADD_SUBDIRECTORY(test)
\ No newline at end of file
+ADD_SUBDIRECTORY(test/stress_test)
+ADD_SUBDIRECTORY(test/orientation_test)
\ No newline at end of file
%files test
%manifest packaging/capi-system-sensor.manifest
%defattr(-,root,root,-)
-%{_bindir}/sensor-stresstests
+%{_bindir}/sensor-stress_test
+%{_bindir}/sensor-orientation_test
+
%if 0%{?gcov:1}
%files gcov
--- /dev/null
+CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+PROJECT(sensor-orientation_test)
+
+SET(PKG_MODULES
+ glib-2.0)
+
+INCLUDE(FindPkgConfig)
+PKG_CHECK_MODULES(pkgs REQUIRED ${PKG_MODULES})
+
+INCLUDE_DIRECTORIES(${pkgs_INCLUDE_DIRS} ${CMAKE_SOURCE_DIR}/include)
+
+FILE(GLOB SRCS *.cpp *.h)
+ADD_EXECUTABLE(${PROJECT_NAME} ${SRCS})
+TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${PKGS_LDFLAGS} capi-system-sensor)
+INSTALL(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_BINDIR})
+
+#CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
+#PROJECT(sensor-stresstests C)
+#
+#SET(PKG_MODULES
+# glib-2.0)
+#
+#INCLUDE(FindPkgConfig)
+#PKG_CHECK_MODULES(PKGS REQUIRED ${PKG_MODULES})
+#
+#
+#FOREACH(flag ${PKGS_CFLAGS})
+# SET(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} ${flag}")
+#ENDFOREACH(flag)
+#
+## Installing files
+#FILE(GLOB_RECURSE SRCS main.c)
+#ADD_EXECUTABLE(${PROJECT_NAME} ${SRCS})
+#SET_TARGET_PROPERTIES(${PROJECT_NAME} PROPERTIES LINKER_LANGUAGE C)
+#TARGET_LINK_LIBRARIES(${PROJECT_NAME} ${PKGS_LDFLAGS} capi-system-sensor)
+#INSTALL(TARGETS ${PROJECT_NAME} DESTINATION ${CMAKE_INSTALL_BINDIR})
--- /dev/null
+/*
+ * Copyright (C) 2007 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// released in android-11.0.0_r9
+
+#ifndef ANDROID_ERRORS_H
+#define ANDROID_ERRORS_H
+#include <sys/types.h>
+#include <errno.h>
+namespace android {
+// use this type to return error codes
+#ifdef HAVE_MS_C_RUNTIME
+typedef int status_t;
+#else
+typedef int32_t status_t;
+#endif
+/* the MS C runtime lacks a few error codes */
+/*
+ * Error codes.
+ * All error codes are negative values.
+ */
+// Win32 #defines NO_ERROR as well. It has the same value, so there's no
+// real conflict, though it's a bit awkward.
+#ifdef _WIN32
+# undef NO_ERROR
+#endif
+
+enum {
+ OK = 0, // Everything's swell.
+ NO_ERROR = 0, // No errors.
+
+ UNKNOWN_ERROR = 0x80000000,
+ NO_MEMORY = -ENOMEM,
+ INVALID_OPERATION = -ENOSYS,
+ BAD_VALUE = -EINVAL,
+ BAD_TYPE = 0x80000001,
+ NAME_NOT_FOUND = -ENOENT,
+ PERMISSION_DENIED = -EPERM,
+ NO_INIT = -ENODEV,
+ ALREADY_EXISTS = -EEXIST,
+ DEAD_OBJECT = -EPIPE,
+ FAILED_TRANSACTION = 0x80000002,
+ JPARKS_BROKE_IT = -EPIPE,
+#if !defined(HAVE_MS_C_RUNTIME)
+ BAD_INDEX = -EOVERFLOW,
+ NOT_ENOUGH_DATA = -ENODATA,
+ WOULD_BLOCK = -EWOULDBLOCK,
+ TIMED_OUT = -ETIMEDOUT,
+ UNKNOWN_TRANSACTION = -EBADMSG,
+#else
+ BAD_INDEX = -E2BIG,
+ NOT_ENOUGH_DATA = 0x80000003,
+ WOULD_BLOCK = 0x80000004,
+ TIMED_OUT = 0x80000005,
+ UNKNOWN_TRANSACTION = 0x80000006,
+#endif
+ FDS_NOT_ALLOWED = 0x80000007,
+};
+// Restore define; enumeration is in "android" namespace, so the value defined
+// there won't work for Win32 code in a different namespace.
+#ifdef _WIN32
+# define NO_ERROR 0L
+#endif
+}; // namespace android
+
+// ---------------------------------------------------------------------------
+
+#endif // ANDROID_ERRORS_H
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// released in android-11.0.0_r9
+
+#include <stdio.h>
+#include "fusion.h"
+
+namespace android {
+
+// -----------------------------------------------------------------------
+
+/*==================== BEGIN FUSION SENSOR PARAMETER =========================*/
+
+/* Note:
+ * If a platform uses software fusion, it is necessary to tune the following
+ * parameters to fit the hardware sensors prior to release.
+ *
+ * The DEFAULT_ parameters will be used in FUSION_9AXIS and FUSION_NOMAG mode.
+ * The GEOMAG_ parameters will be used in FUSION_NOGYRO mode.
+ */
+
+/*
+ * GYRO_VAR gives the measured variance of the gyro's output per
+ * Hz (or variance at 1 Hz). This is an "intrinsic" parameter of the gyro,
+ * which is independent of the sampling frequency.
+ *
+ * The variance of gyro's output at a given sampling period can be
+ * calculated as:
+ * variance(T) = GYRO_VAR / T
+ *
+ * The variance of the INTEGRATED OUTPUT at a given sampling period can be
+ * calculated as:
+ * variance_integrate_output(T) = GYRO_VAR * T
+ */
+static const float DEFAULT_GYRO_VAR = 1e-7; // (rad/s)^2 / Hz
+static const float DEFAULT_GYRO_BIAS_VAR = 1e-12; // (rad/s)^2 / s (guessed)
+static const float GEOMAG_GYRO_VAR = 1e-4; // (rad/s)^2 / Hz
+static const float GEOMAG_GYRO_BIAS_VAR = 1e-8; // (rad/s)^2 / s (guessed)
+
+/*
+ * Standard deviations of accelerometer and magnetometer
+ */
+static const float DEFAULT_ACC_STDEV = 0.015f; // m/s^2 (measured 0.08 / CDD 0.05)
+static const float DEFAULT_MAG_STDEV = 0.1f; // uT (measured 0.7 / CDD 0.5)
+static const float GEOMAG_ACC_STDEV = 0.05f; // m/s^2 (measured 0.08 / CDD 0.05)
+static const float GEOMAG_MAG_STDEV = 0.1f; // uT (measured 0.7 / CDD 0.5)
+
+
+/* ====================== END FUSION SENSOR PARAMETER ========================*/
+
+static const float SYMMETRY_TOLERANCE = 1e-10f;
+
+/*
+ * Accelerometer updates will not be performed near free fall to avoid
+ * ill-conditioning and div by zeros.
+ * Threshhold: 10% of g, in m/s^2
+ */
+static const float NOMINAL_GRAVITY = 9.81f;
+static const float FREE_FALL_THRESHOLD = 0.1f * (NOMINAL_GRAVITY);
+
+/*
+ * The geomagnetic-field should be between 30uT and 60uT.
+ * Fields strengths greater than this likely indicate a local magnetic
+ * disturbance which we do not want to update into the fused frame.
+ */
+static const float MAX_VALID_MAGNETIC_FIELD = 100; // uT
+static const float MAX_VALID_MAGNETIC_FIELD_SQ =
+ MAX_VALID_MAGNETIC_FIELD*MAX_VALID_MAGNETIC_FIELD;
+
+/*
+ * Values of the field smaller than this should be ignored in fusion to avoid
+ * ill-conditioning. This state can happen with anomalous local magnetic
+ * disturbances canceling the Earth field.
+ */
+static const float MIN_VALID_MAGNETIC_FIELD = 10; // uT
+static const float MIN_VALID_MAGNETIC_FIELD_SQ =
+ MIN_VALID_MAGNETIC_FIELD*MIN_VALID_MAGNETIC_FIELD;
+
+/*
+ * If the cross product of two vectors has magnitude squared less than this,
+ * we reject it as invalid due to alignment of the vectors.
+ * This threshold is used to check for the case where the magnetic field sample
+ * is parallel to the gravity field, which can happen in certain places due
+ * to magnetic field disturbances.
+ */
+static const float MIN_VALID_CROSS_PRODUCT_MAG = 1.0e-3;
+static const float MIN_VALID_CROSS_PRODUCT_MAG_SQ =
+ MIN_VALID_CROSS_PRODUCT_MAG*MIN_VALID_CROSS_PRODUCT_MAG;
+
+static const float SQRT_3 = 1.732f;
+static const float WVEC_EPS = 1e-4f/SQRT_3;
+// -----------------------------------------------------------------------
+
+template <typename TYPE, size_t C, size_t R>
+static mat<TYPE, R, R> scaleCovariance(
+ const mat<TYPE, C, R>& A,
+ const mat<TYPE, C, C>& P) {
+ // A*P*transpose(A);
+ mat<TYPE, R, R> APAt;
+ for (size_t r=0 ; r<R ; r++) {
+ for (size_t j=r ; j<R ; j++) {
+ double apat(0);
+ for (size_t c=0 ; c<C ; c++) {
+ double v(A[c][r]*P[c][c]*0.5);
+ for (size_t k=c+1 ; k<C ; k++)
+ v += A[k][r] * P[c][k];
+ apat += 2 * v * A[c][j];
+ }
+ APAt[j][r] = apat;
+ APAt[r][j] = apat;
+ }
+ }
+ return APAt;
+}
+
+template <typename TYPE, typename OTHER_TYPE>
+static mat<TYPE, 3, 3> crossMatrix(const vec<TYPE, 3>& p, OTHER_TYPE diag) {
+ mat<TYPE, 3, 3> r;
+ r[0][0] = diag;
+ r[1][1] = diag;
+ r[2][2] = diag;
+ r[0][1] = p.z;
+ r[1][0] =-p.z;
+ r[0][2] =-p.y;
+ r[2][0] = p.y;
+ r[1][2] = p.x;
+ r[2][1] =-p.x;
+ return r;
+}
+
+
+template<typename TYPE, size_t SIZE>
+class Covariance {
+ mat<TYPE, SIZE, SIZE> mSumXX;
+ vec<TYPE, SIZE> mSumX;
+ size_t mN;
+public:
+ Covariance() : mSumXX(0.0f), mSumX(0.0f), mN(0) { }
+ void update(const vec<TYPE, SIZE>& x) {
+ mSumXX += x*transpose(x);
+ mSumX += x;
+ mN++;
+ }
+ mat<TYPE, SIZE, SIZE> operator()() const {
+ const float N = 1.0f / mN;
+ return mSumXX*N - (mSumX*transpose(mSumX))*(N*N);
+ }
+ void reset() {
+ mN = 0;
+ mSumXX = 0;
+ mSumX = 0;
+ }
+ size_t getCount() const {
+ return mN;
+ }
+};
+
+// -----------------------------------------------------------------------
+
+Fusion::Fusion() {
+ Phi[0][1] = 0;
+ Phi[1][1] = 1;
+
+ Ba.x = 0;
+ Ba.y = 0;
+ Ba.z = 1;
+
+ Bm.x = 0;
+ Bm.y = 1;
+ Bm.z = 0;
+
+ x0 = 0;
+ x1 = 0;
+
+ init();
+}
+
+void Fusion::init(int mode) {
+ mInitState = 0;
+
+ mGyroRate = 0;
+
+ mCount[0] = 0;
+ mCount[1] = 0;
+ mCount[2] = 0;
+
+ mData = 0;
+ mMode = mode;
+
+ if (mMode != FUSION_NOGYRO) { //normal or game rotation
+ mParam.gyroVar = DEFAULT_GYRO_VAR;
+ mParam.gyroBiasVar = DEFAULT_GYRO_BIAS_VAR;
+ mParam.accStdev = DEFAULT_ACC_STDEV;
+ mParam.magStdev = DEFAULT_MAG_STDEV;
+ } else {
+ mParam.gyroVar = GEOMAG_GYRO_VAR;
+ mParam.gyroBiasVar = GEOMAG_GYRO_BIAS_VAR;
+ mParam.accStdev = GEOMAG_ACC_STDEV;
+ mParam.magStdev = GEOMAG_MAG_STDEV;
+ }
+}
+
+void Fusion::initFusion(const vec4_t& q, float dT)
+{
+ // initial estimate: E{ x(t0) }
+ x0 = q;
+ x1 = 0;
+
+ // process noise covariance matrix: G.Q.Gt, with
+ //
+ // G = | -1 0 | Q = | q00 q10 |
+ // | 0 1 | | q01 q11 |
+ //
+ // q00 = sv^2.dt + 1/3.su^2.dt^3
+ // q10 = q01 = 1/2.su^2.dt^2
+ // q11 = su^2.dt
+ //
+
+ const float dT2 = dT*dT;
+ const float dT3 = dT2*dT;
+
+ // variance of integrated output at 1/dT Hz (random drift)
+ const float q00 = mParam.gyroVar * dT + 0.33333f * mParam.gyroBiasVar * dT3;
+
+ // variance of drift rate ramp
+ const float q11 = mParam.gyroBiasVar * dT;
+ const float q10 = 0.5f * mParam.gyroBiasVar * dT2;
+ const float q01 = q10;
+
+ GQGt[0][0] = q00; // rad^2
+ GQGt[1][0] = -q10;
+ GQGt[0][1] = -q01;
+ GQGt[1][1] = q11; // (rad/s)^2
+
+ // initial covariance: Var{ x(t0) }
+ // TODO: initialize P correctly
+ P = 0;
+}
+
+bool Fusion::hasEstimate() const {
+ return ((mInitState & MAG) || (mMode == FUSION_NOMAG)) &&
+ ((mInitState & GYRO) || (mMode == FUSION_NOGYRO)) &&
+ (mInitState & ACC);
+}
+
+bool Fusion::checkInitComplete(int what, const vec3_t& d, float dT) {
+ if (hasEstimate())
+ return true;
+
+ if (what == ACC) {
+ mData[0] += d * (1/length(d));
+ mCount[0]++;
+ mInitState |= ACC;
+ if (mMode == FUSION_NOGYRO ) {
+ mGyroRate = dT;
+ }
+ } else if (what == MAG) {
+ mData[1] += d * (1/length(d));
+ mCount[1]++;
+ mInitState |= MAG;
+ } else if (what == GYRO) {
+ mGyroRate = dT;
+ mData[2] += d*dT;
+ mCount[2]++;
+ mInitState |= GYRO;
+ }
+
+ if (hasEstimate()) {
+ // Average all the values we collected so far
+ mData[0] *= 1.0f/mCount[0];
+ if (mMode != FUSION_NOMAG) {
+ mData[1] *= 1.0f/mCount[1];
+ }
+ mData[2] *= 1.0f/mCount[2];
+
+ // calculate the MRPs from the data collection, this gives us
+ // a rough estimate of our initial state
+ mat33_t R;
+ vec3_t up(mData[0]);
+ vec3_t east;
+
+ if (mMode != FUSION_NOMAG) {
+ east = normalize(cross_product(mData[1], up));
+ } else {
+ east = getOrthogonal(up);
+ }
+
+ vec3_t north(cross_product(up, east));
+ R << east << north << up;
+ const vec4_t q = matrixToQuat(R);
+
+ initFusion(q, mGyroRate);
+ }
+
+ return false;
+}
+
+void Fusion::handleGyro(const vec3_t& w, float dT) {
+ if (!checkInitComplete(GYRO, w, dT))
+ return;
+
+ predict(w, dT);
+}
+
+status_t Fusion::handleAcc(const vec3_t& a, float dT) {
+ if (!checkInitComplete(ACC, a, dT))
+ return BAD_VALUE;
+
+ // ignore acceleration data if we're close to free-fall
+ const float l = length(a);
+ if (l < FREE_FALL_THRESHOLD) {
+ return BAD_VALUE;
+ }
+
+ const float l_inv = 1.0f/l;
+
+ if ( mMode == FUSION_NOGYRO ) {
+ //geo mag
+ vec3_t w_dummy;
+ w_dummy = x1; //bias
+ predict(w_dummy, dT);
+ }
+
+ if ( mMode == FUSION_NOMAG) {
+ vec3_t m;
+ m = getRotationMatrix()*Bm;
+ update(m, Bm, mParam.magStdev);
+ }
+
+ vec3_t unityA = a * l_inv;
+ const float d = sqrtf(fabsf(l- NOMINAL_GRAVITY));
+ const float p = l_inv * mParam.accStdev*expf(d);
+
+ update(unityA, Ba, p);
+ return NO_ERROR;
+}
+
+status_t Fusion::handleMag(const vec3_t& m) {
+ if (!checkInitComplete(MAG, m))
+ return BAD_VALUE;
+
+ // the geomagnetic-field should be between 30uT and 60uT
+ // reject if too large to avoid spurious magnetic sources
+ const float magFieldSq = length_squared(m);
+ if (magFieldSq > MAX_VALID_MAGNETIC_FIELD_SQ) {
+ return BAD_VALUE;
+ } else if (magFieldSq < MIN_VALID_MAGNETIC_FIELD_SQ) {
+ // Also reject if too small since we will get ill-defined (zero mag)
+ // cross-products below
+ return BAD_VALUE;
+ }
+
+ // Orthogonalize the magnetic field to the gravity field, mapping it into
+ // tangent to Earth.
+ const vec3_t up( getRotationMatrix() * Ba );
+ const vec3_t east( cross_product(m, up) );
+
+ // If the m and up vectors align, the cross product magnitude will
+ // approach 0.
+ // Reject this case as well to avoid div by zero problems and
+ // ill-conditioning below.
+ if (length_squared(east) < MIN_VALID_CROSS_PRODUCT_MAG_SQ) {
+ return BAD_VALUE;
+ }
+
+ // If we have created an orthogonal magnetic field successfully,
+ // then pass it in as the update.
+ vec3_t north( cross_product(up, east) );
+
+ const float l_inv = 1 / length(north);
+ north *= l_inv;
+
+ update(north, Bm, mParam.magStdev*l_inv);
+ return NO_ERROR;
+}
+
+void Fusion::checkState() {
+ // P needs to stay positive semidefinite or the fusion diverges. When we
+ // detect divergence, we reset the fusion.
+ // TODO(braun): Instead, find the reason for the divergence and fix it.
+
+ if (!isPositiveSemidefinite(P[0][0], SYMMETRY_TOLERANCE) ||
+ !isPositiveSemidefinite(P[1][1], SYMMETRY_TOLERANCE)) {
+ P = 0;
+ }
+}
+
+vec4_t Fusion::getAttitude() const {
+ return x0;
+}
+
+vec3_t Fusion::getBias() const {
+ return x1;
+}
+
+mat33_t Fusion::getRotationMatrix() const {
+ return quatToMatrix(x0);
+}
+
+mat34_t Fusion::getF(const vec4_t& q) {
+ mat34_t F;
+
+ // This is used to compute the derivative of q
+ // F = | [q.xyz]x |
+ // | -q.xyz |
+
+ F[0].x = q.w; F[1].x =-q.z; F[2].x = q.y;
+ F[0].y = q.z; F[1].y = q.w; F[2].y =-q.x;
+ F[0].z =-q.y; F[1].z = q.x; F[2].z = q.w;
+ F[0].w =-q.x; F[1].w =-q.y; F[2].w =-q.z;
+ return F;
+}
+
+void Fusion::predict(const vec3_t& w, float dT) {
+ const vec4_t q = x0;
+ const vec3_t b = x1;
+ vec3_t we = w - b;
+
+ if (length(we) < WVEC_EPS) {
+ we = (we[0]>0.f)?WVEC_EPS:-WVEC_EPS;
+ }
+ // q(k+1) = O(we)*q(k)
+ // --------------------
+ //
+ // O(w) = | cos(0.5*||w||*dT)*I33 - [psi]x psi |
+ // | -psi' cos(0.5*||w||*dT) |
+ //
+ // psi = sin(0.5*||w||*dT)*w / ||w||
+ //
+ //
+ // P(k+1) = Phi(k)*P(k)*Phi(k)' + G*Q(k)*G'
+ // ----------------------------------------
+ //
+ // G = | -I33 0 |
+ // | 0 I33 |
+ //
+ // Phi = | Phi00 Phi10 |
+ // | 0 1 |
+ //
+ // Phi00 = I33
+ // - [w]x * sin(||w||*dt)/||w||
+ // + [w]x^2 * (1-cos(||w||*dT))/||w||^2
+ //
+ // Phi10 = [w]x * (1 - cos(||w||*dt))/||w||^2
+ // - [w]x^2 * (||w||*dT - sin(||w||*dt))/||w||^3
+ // - I33*dT
+
+ const mat33_t I33(1);
+ const mat33_t I33dT(dT);
+ const mat33_t wx(crossMatrix(we, 0));
+ const mat33_t wx2(wx*wx);
+ const float lwedT = length(we)*dT;
+ const float hlwedT = 0.5f*lwedT;
+ const float ilwe = 1.f/length(we);
+ const float k0 = (1-cosf(lwedT))*(ilwe*ilwe);
+ const float k1 = sinf(lwedT);
+ const float k2 = cosf(hlwedT);
+ const vec3_t psi(sinf(hlwedT)*ilwe*we);
+ const mat33_t O33(crossMatrix(-psi, k2));
+ mat44_t O;
+ O[0].xyz = O33[0]; O[0].w = -psi.x;
+ O[1].xyz = O33[1]; O[1].w = -psi.y;
+ O[2].xyz = O33[2]; O[2].w = -psi.z;
+ O[3].xyz = psi; O[3].w = k2;
+
+ Phi[0][0] = I33 - wx*(k1*ilwe) + wx2*k0;
+ Phi[1][0] = wx*k0 - I33dT - wx2*(ilwe*ilwe*ilwe)*(lwedT-k1);
+
+ x0 = O*q;
+
+ if (x0.w < 0)
+ x0 = -x0;
+
+ P = Phi*P*transpose(Phi) + GQGt;
+
+ checkState();
+}
+
+void Fusion::update(const vec3_t& z, const vec3_t& Bi, float sigma) {
+ vec4_t q(x0);
+ // measured vector in body space: h(p) = A(p)*Bi
+ const mat33_t A(quatToMatrix(q));
+ const vec3_t Bb(A*Bi);
+
+ // Sensitivity matrix H = dh(p)/dp
+ // H = [ L 0 ]
+ const mat33_t L(crossMatrix(Bb, 0));
+
+ // gain...
+ // K = P*Ht / [H*P*Ht + R]
+ vec<mat33_t, 2> K;
+ const mat33_t R(sigma*sigma);
+ const mat33_t S(scaleCovariance(L, P[0][0]) + R);
+ const mat33_t Si(invert(S));
+ const mat33_t LtSi(transpose(L)*Si);
+ K[0] = P[0][0] * LtSi;
+ K[1] = transpose(P[1][0])*LtSi;
+
+ // update...
+ // P = (I-K*H) * P
+ // P -= K*H*P
+ // | K0 | * | L 0 | * P = | K0*L 0 | * | P00 P10 | = | K0*L*P00 K0*L*P10 |
+ // | K1 | | K1*L 0 | | P01 P11 | | K1*L*P00 K1*L*P10 |
+ // Note: the Joseph form is numerically more stable and given by:
+ // P = (I-KH) * P * (I-KH)' + K*R*R'
+ const mat33_t K0L(K[0] * L);
+ const mat33_t K1L(K[1] * L);
+ P[0][0] -= K0L*P[0][0];
+ P[1][1] -= K1L*P[1][0];
+ P[1][0] -= K0L*P[1][0];
+ P[0][1] = transpose(P[1][0]);
+
+ const vec3_t e(z - Bb);
+ const vec3_t dq(K[0]*e);
+
+ q += getF(q)*(0.5f*dq);
+ x0 = normalize_quat(q);
+
+ if (mMode != FUSION_NOMAG) {
+ const vec3_t db(K[1]*e);
+ x1 += db;
+ }
+
+ checkState();
+}
+
+vec3_t Fusion::getOrthogonal(const vec3_t &v) {
+ vec3_t w;
+ if (fabsf(v[0])<= fabsf(v[1]) && fabsf(v[0]) <= fabsf(v[2])) {
+ w[0]=0.f;
+ w[1] = v[2];
+ w[2] = -v[1];
+ } else if (fabsf(v[1]) <= fabsf(v[2])) {
+ w[0] = v[2];
+ w[1] = 0.f;
+ w[2] = -v[0];
+ }else {
+ w[0] = v[1];
+ w[1] = -v[0];
+ w[2] = 0.f;
+ }
+ return normalize(w);
+}
+
+
+// -----------------------------------------------------------------------
+
+}; // namespace android
+
--- /dev/null
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// released in android-11.0.0_r9
+
+#ifndef ANDROID_FUSION_H
+#define ANDROID_FUSION_H
+
+#include "quat.h"
+#include "mat.h"
+#include "vec.h"
+#include "errors.h"
+
+namespace android {
+
+typedef mat<float, 3, 4> mat34_t;
+
+enum FUSION_MODE{
+ FUSION_9AXIS, // use accel gyro mag
+ FUSION_NOMAG, // use accel gyro (game rotation, gravity)
+ FUSION_NOGYRO, // use accel mag (geomag rotation)
+ NUM_FUSION_MODE
+};
+
+class Fusion {
+ /*
+ * the state vector is made of two sub-vector containing respectively:
+ * - modified Rodrigues parameters
+ * - the estimated gyro bias
+ */
+// quat_t x0;
+ vec3_t x1;
+
+ /*
+ * the predicated covariance matrix is made of 4 3x3 sub-matrices and it is
+ * semi-definite positive.
+ *
+ * P = | P00 P10 | = | P00 P10 |
+ * | P01 P11 | | P10t P11 |
+ *
+ * Since P01 = transpose(P10), the code below never calculates or
+ * stores P01.
+ */
+ mat<mat33_t, 2, 2> P;
+
+ /*
+ * the process noise covariance matrix
+ */
+ mat<mat33_t, 2, 2> GQGt;
+
+public:
+ quat_t x0;
+ Fusion();
+ void init(int mode = FUSION_9AXIS);
+ void handleGyro(const vec3_t& w, float dT);
+ status_t handleAcc(const vec3_t& a, float dT);
+ status_t handleMag(const vec3_t& m);
+ vec4_t getAttitude() const;
+ vec3_t getBias() const;
+ mat33_t getRotationMatrix() const;
+ bool hasEstimate() const;
+
+private:
+ struct Parameter {
+ float gyroVar;
+ float gyroBiasVar;
+ float accStdev;
+ float magStdev;
+ } mParam;
+
+ mat<mat33_t, 2, 2> Phi;
+ vec3_t Ba, Bm;
+ uint32_t mInitState;
+ float mGyroRate;
+ vec<vec3_t, 3> mData;
+ size_t mCount[3];
+ int mMode;
+
+ enum { ACC=0x1, MAG=0x2, GYRO=0x4 };
+ bool checkInitComplete(int, const vec3_t& w, float d = 0);
+ void initFusion(const vec4_t& q0, float dT);
+ void checkState();
+ void predict(const vec3_t& w, float dT);
+ void update(const vec3_t& z, const vec3_t& Bi, float sigma);
+ static mat34_t getF(const vec4_t& p);
+ static vec3_t getOrthogonal(const vec3_t &v);
+};
+
+}; // namespace android
+
+#endif // ANDROID_FUSION_H
--- /dev/null
+#include <stdio.h>
+#include <sensor.h>
+#include <glib.h>
+#include <math.h>
+
+#include <vector>
+#include <string>
+
+#include "tizen_orientation.h"
+#include "fusion.h"
+
+const float TIMEUNIT = 1000000.0f;
+
+std::vector<sensor_type_e> ev;
+std::vector<std::string> sv;
+
+android::Fusion Android_Fusion; // the class that calculates Android rotation vector to Android orientation
+android::Fusion Android_Fusion2; // the class that calculates TIZEN rotation vector to Android orientation
+
+static unsigned long long timestamp[3]; // timestamps of accelerometer, gyroscope and magnetometer
+
+static float TIZEN_rv[4]; // TIZEN rotation vector
+static float Android_rv[4]; // Android rotation vector
+
+static float TIZEN_ori[3]; // TIZEN rotation vector to TIZEN orientation
+static float Android_ori[3]; // Android rotation vector to Android orientation
+
+static float TA_ori[3]; // TIZEN rotation vector to Android orientation
+static float AT_ori[3]; // Android rotation vector to TIZEN orientation
+
+static void sensor_callback(sensor_h sensor, sensor_event_s events[], int events_count, void *user_data)
+{
+ sensor_type_e type;
+ sensor_get_type(sensor, &type);
+
+ if (type == SENSOR_ROTATION_VECTOR) {
+ TIZEN_rv[0] = events[0].values[0];
+ TIZEN_rv[1] = events[0].values[1];
+ TIZEN_rv[2] = events[0].values[2];
+ TIZEN_rv[3] = events[0].values[3];
+
+ Android_Fusion2.x0 = android::vec3_t(TIZEN_rv);
+ android::mat33_t m(Android_Fusion2.getRotationMatrix());
+
+ android::vec3_t g;
+ g[0] = atan2f(-m[1][0], m[0][0]) * RAD2DEG;
+ g[1] = atan2f(-m[2][1], m[2][2]) * RAD2DEG;
+ g[2] = asinf ( m[2][0]) * RAD2DEG;
+ if (g[0] < 0)
+ g[0] += 360;
+
+ TA_ori[0] = g.x;
+ TA_ori[1] = g.y;
+ TA_ori[2] = g.z;
+ }
+
+ /* 6-axis rotation vector
+ else if (type == SENSOR_GYROSCOPE_ROTATION_VECTOR) {
+ T6_rv_f = true;
+ T6_rv[0] = events[0].values[0];
+ T6_rv[1] = events[0].values[1];
+ T6_rv[2] = events[0].values[2];
+ T6_rv[3] = events[0].values[3];
+ }
+ */
+
+ else if (type == SENSOR_ORIENTATION) {
+ TIZEN_ori[0] = events[0].values[0];
+ TIZEN_ori[1] = events[0].values[1];
+ TIZEN_ori[2] = events[0].values[2];
+ }
+
+ else {
+ if (type == SENSOR_ACCELEROMETER) {
+ android::vec3_t v(events[0].values);
+ float dT = (events[0].timestamp - timestamp[0]) / TIMEUNIT;
+ timestamp[0] = events[0].timestamp;
+ Android_Fusion.handleAcc(v, dT);
+ }
+
+ else if (type == SENSOR_GYROSCOPE) {
+ events[0].values[0] /= RAD2DEG;
+ events[0].values[1] /= RAD2DEG;
+ events[0].values[2] /= RAD2DEG;
+
+ android::vec3_t v(events[0].values);
+ float dT = (events[0].timestamp - timestamp[1]) / TIMEUNIT;
+ timestamp[1] = events[0].timestamp;
+
+ Android_Fusion.handleGyro(v, dT);
+ }
+
+ else if (type == SENSOR_MAGNETIC) {
+ android::vec3_t v(events[0].values);
+ Android_Fusion.handleMag(v);
+ }
+
+ android::quat_t v(Android_Fusion.getAttitude());
+
+ Android_rv[0] = v[0];
+ Android_rv[1] = v[1];
+ Android_rv[2] = v[2];
+ Android_rv[3] = v[3];
+
+ quat_to_orientation(Android_rv, AT_ori[0], AT_ori[1], AT_ori[2]);
+
+ android::mat33_t m(Android_Fusion.getRotationMatrix());
+ android::vec3_t g;
+ g[0] = atan2f(-m[1][0], m[0][0]) * RAD2DEG;
+ g[1] = atan2f(-m[2][1], m[2][2]) * RAD2DEG;
+ g[2] = asinf ( m[2][0]) * RAD2DEG;
+ if (g[0] < 0)
+ g[0] += 360;
+
+ Android_ori[0] = g.x;
+ Android_ori[1] = g.y;
+ Android_ori[2] = g.z;
+
+ /* 6-axis rotation vector
+ A6_rv_f = true;
+ android::quat_t v6(F6.getAttitude());
+
+ A6_rv[0] = v6[0];
+ A6_rv[1] = v6[1];
+ A6_rv[2] = v6[2];
+ A6_rv[3] = v6[3];
+ */
+ }
+
+ printf("\n\n");
+ printf("(Tizen / Android) Rotation vector : \n");
+ printf("T : %f %f %f %f\n", TIZEN_rv[0], TIZEN_rv[1], TIZEN_rv[2], TIZEN_rv[3]);
+ printf("A : %f %f %f %f\n\n", Android_rv[0], Android_rv[1], Android_rv[2], Android_rv[3]);
+
+ printf("(Tizen / Android) Rotation vector -> (Tizen / Android) Orientation : \n");
+ printf("T -> T : %f %f %f\n", TIZEN_ori[0], TIZEN_ori[1], TIZEN_ori[2]);
+ printf("A -> A : %f %f %f\n", Android_ori[0], Android_ori[1], Android_ori[2]);
+ printf("T -> A : %f %f %f\n", TA_ori[0], TA_ori[1], TA_ori[2]);
+ printf("A -> T : %f %f %f\n", AT_ori[0], AT_ori[1], AT_ori[2]);
+}
+
+int main()
+{
+ ev.push_back(SENSOR_ACCELEROMETER);
+ sv.push_back("SENSOR_ACCELEROMETER");
+
+ ev.push_back(SENSOR_GYROSCOPE);
+ sv.push_back("SENSOR_GYROSCOPE");
+
+ ev.push_back(SENSOR_MAGNETIC);
+ sv.push_back("SENSOR_MAGNETIC");
+
+ ev.push_back(SENSOR_ORIENTATION);
+ sv.push_back("SENSOR_ORIENTATION");
+
+ ev.push_back(SENSOR_ROTATION_VECTOR);
+ sv.push_back("SENSOR_ROTATION_VECTOR");
+
+ /* 6-axis rotation vector
+ ev.push_back(SENSOR_GYROSCOPE_ROTATION_VECTOR);
+ sv.push_back("SENSOR_GYROSCOPE_ROTATION_VECTOR");
+ */
+
+ sensor_h *sh;
+ sensor_listener_h lh[10];
+
+ int count;
+ int num = ev.size();
+ bool sup;
+
+ for (int i = 0; i < num; ++i) {
+ sensor_is_supported(ev[i], &sup);
+
+ if (sup) {
+ sensor_get_sensor_list(ev[i], &sh, &count);
+ sensor_create_listener(sh[0], &lh[i]);
+
+ sensor_listener_set_events_cb(lh[i], sensor_callback, NULL);
+ sensor_listener_set_option(lh[i], SENSOR_OPTION_ALWAYS_ON);
+ sensor_listener_set_interval(lh[i], 100);
+ sensor_listener_start(lh[i]);
+ }
+
+ else {
+ printf("%s sensor is not supported in this device.\n", sv[i].c_str());
+ }
+ }
+
+ GMainLoop *loop;
+ loop = g_main_loop_new(NULL, FALSE);
+ g_main_loop_run(loop);
+
+ for (int i = 0; i < num; ++i) {
+ sensor_is_supported(ev[i], &sup);
+ if (sup)
+ sensor_destroy_listener(lh[i]);
+ }
+
+ return 0;
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// released in android-11.0.0_r9
+
+#ifndef ANDROID_MAT_H
+#define ANDROID_MAT_H
+
+#include "vec.h"
+#include "traits.h"
+
+// -----------------------------------------------------------------------
+
+namespace android {
+
+template <typename TYPE, size_t C, size_t R>
+class mat;
+
+namespace helpers {
+
+template <typename TYPE, size_t C, size_t R>
+mat<TYPE, C, R>& doAssign(
+ mat<TYPE, C, R>& lhs,
+ typename TypeTraits<TYPE>::ParameterType rhs) {
+ for (size_t i=0 ; i<C ; i++)
+ for (size_t j=0 ; j<R ; j++)
+ lhs[i][j] = (i==j) ? rhs : 0;
+ return lhs;
+}
+
+template <typename TYPE, size_t C, size_t R, size_t D>
+mat<TYPE, C, R> PURE doMul(
+ const mat<TYPE, D, R>& lhs,
+ const mat<TYPE, C, D>& rhs)
+{
+ mat<TYPE, C, R> res;
+ for (size_t c=0 ; c<C ; c++) {
+ for (size_t r=0 ; r<R ; r++) {
+ TYPE v(0);
+ for (size_t k=0 ; k<D ; k++) {
+ v += lhs[k][r] * rhs[c][k];
+ }
+ res[c][r] = v;
+ }
+ }
+ return res;
+}
+
+template <typename TYPE, size_t R, size_t D>
+vec<TYPE, R> PURE doMul(
+ const mat<TYPE, D, R>& lhs,
+ const vec<TYPE, D>& rhs)
+{
+ vec<TYPE, R> res;
+ for (size_t r=0 ; r<R ; r++) {
+ TYPE v(0);
+ for (size_t k=0 ; k<D ; k++) {
+ v += lhs[k][r] * rhs[k];
+ }
+ res[r] = v;
+ }
+ return res;
+}
+
+template <typename TYPE, size_t C, size_t R>
+mat<TYPE, C, R> PURE doMul(
+ const vec<TYPE, R>& lhs,
+ const mat<TYPE, C, 1>& rhs)
+{
+ mat<TYPE, C, R> res;
+ for (size_t c=0 ; c<C ; c++) {
+ for (size_t r=0 ; r<R ; r++) {
+ res[c][r] = lhs[r] * rhs[c][0];
+ }
+ }
+ return res;
+}
+
+template <typename TYPE, size_t C, size_t R>
+mat<TYPE, C, R> PURE doMul(
+ const mat<TYPE, C, R>& rhs,
+ typename TypeTraits<TYPE>::ParameterType v)
+{
+ mat<TYPE, C, R> res;
+ for (size_t c=0 ; c<C ; c++) {
+ for (size_t r=0 ; r<R ; r++) {
+ res[c][r] = rhs[c][r] * v;
+ }
+ }
+ return res;
+}
+
+template <typename TYPE, size_t C, size_t R>
+mat<TYPE, C, R> PURE doMul(
+ typename TypeTraits<TYPE>::ParameterType v,
+ const mat<TYPE, C, R>& rhs)
+{
+ mat<TYPE, C, R> res;
+ for (size_t c=0 ; c<C ; c++) {
+ for (size_t r=0 ; r<R ; r++) {
+ res[c][r] = v * rhs[c][r];
+ }
+ }
+ return res;
+}
+
+
+}; // namespace helpers
+
+// -----------------------------------------------------------------------
+
+template <typename TYPE, size_t C, size_t R>
+class mat : public vec< vec<TYPE, R>, C > {
+ typedef typename TypeTraits<TYPE>::ParameterType pTYPE;
+ typedef vec< vec<TYPE, R>, C > base;
+public:
+ // STL-like interface.
+ typedef TYPE value_type;
+ typedef TYPE& reference;
+ typedef TYPE const& const_reference;
+ typedef size_t size_type;
+ size_type size() const { return R*C; }
+ enum { ROWS = R, COLS = C };
+
+
+ // -----------------------------------------------------------------------
+ // default constructors
+
+ mat() { }
+ mat(const mat& rhs) : base(rhs) { }
+ mat(const base& rhs) : base(rhs) { } // NOLINT(google-explicit-constructor)
+
+ // -----------------------------------------------------------------------
+ // conversion constructors
+
+ // sets the diagonal to the value, off-diagonal to zero
+ mat(pTYPE rhs) { // NOLINT(google-explicit-constructor)
+ helpers::doAssign(*this, rhs);
+ }
+
+ // -----------------------------------------------------------------------
+ // Assignment
+
+ mat& operator=(const mat& rhs) {
+ base::operator=(rhs);
+ return *this;
+ }
+
+ mat& operator=(const base& rhs) {
+ base::operator=(rhs);
+ return *this;
+ }
+
+ mat& operator=(pTYPE rhs) {
+ return helpers::doAssign(*this, rhs);
+ }
+
+ // -----------------------------------------------------------------------
+ // non-member function declaration and definition
+
+ friend inline mat PURE operator + (const mat& lhs, const mat& rhs) {
+ return helpers::doAdd(
+ static_cast<const base&>(lhs),
+ static_cast<const base&>(rhs));
+ }
+ friend inline mat PURE operator - (const mat& lhs, const mat& rhs) {
+ return helpers::doSub(
+ static_cast<const base&>(lhs),
+ static_cast<const base&>(rhs));
+ }
+
+ // matrix*matrix
+ template <size_t D>
+ friend mat PURE operator * (
+ const mat<TYPE, D, R>& lhs,
+ const mat<TYPE, C, D>& rhs) {
+ return helpers::doMul(lhs, rhs);
+ }
+
+ // matrix*vector
+ friend vec<TYPE, R> PURE operator * (
+ const mat& lhs, const vec<TYPE, C>& rhs) {
+ return helpers::doMul(lhs, rhs);
+ }
+
+ // vector*matrix
+ friend mat PURE operator * (
+ const vec<TYPE, R>& lhs, const mat<TYPE, C, 1>& rhs) {
+ return helpers::doMul(lhs, rhs);
+ }
+
+ // matrix*scalar
+ friend inline mat PURE operator * (const mat& lhs, pTYPE v) {
+ return helpers::doMul(lhs, v);
+ }
+
+ // scalar*matrix
+ friend inline mat PURE operator * (pTYPE v, const mat& rhs) {
+ return helpers::doMul(v, rhs);
+ }
+
+ // -----------------------------------------------------------------------
+ // streaming operator to set the columns of the matrix:
+ // example:
+ // mat33_t m;
+ // m << v0 << v1 << v2;
+
+ // column_builder<> stores the matrix and knows which column to set
+ template<size_t PREV_COLUMN>
+ struct column_builder {
+ mat& matrix;
+ explicit column_builder(mat& matrix) : matrix(matrix) { }
+ };
+
+ // operator << is not a method of column_builder<> so we can
+ // overload it for unauthorized values (partial specialization
+ // not allowed in class-scope).
+ // we just set the column and return the next column_builder<>
+ template<size_t PREV_COLUMN>
+ friend column_builder<PREV_COLUMN+1> operator << (
+ const column_builder<PREV_COLUMN>& lhs,
+ const vec<TYPE, R>& rhs) {
+ lhs.matrix[PREV_COLUMN+1] = rhs;
+ return column_builder<PREV_COLUMN+1>(lhs.matrix);
+ }
+
+ // we return void here so we get a compile-time error if the
+ // user tries to set too many columns
+ friend void operator << (
+ const column_builder<C-2>& lhs,
+ const vec<TYPE, R>& rhs) {
+ lhs.matrix[C-1] = rhs;
+ }
+
+ // this is where the process starts. we set the first columns and
+ // return the next column_builder<>
+ column_builder<0> operator << (const vec<TYPE, R>& rhs) {
+ (*this)[0] = rhs;
+ return column_builder<0>(*this);
+ }
+};
+
+// Specialize column matrix so they're exactly equivalent to a vector
+template <typename TYPE, size_t R>
+class mat<TYPE, 1, R> : public vec<TYPE, R> {
+ typedef vec<TYPE, R> base;
+public:
+ // STL-like interface.
+ typedef TYPE value_type;
+ typedef TYPE& reference;
+ typedef TYPE const& const_reference;
+ typedef size_t size_type;
+ size_type size() const { return R; }
+ enum { ROWS = R, COLS = 1 };
+
+ mat() { }
+ explicit mat(const base& rhs) : base(rhs) { }
+ mat(const mat& rhs) : base(rhs) { }
+ explicit mat(const TYPE& rhs) { helpers::doAssign(*this, rhs); }
+ mat& operator=(const mat& rhs) { base::operator=(rhs); return *this; }
+ mat& operator=(const base& rhs) { base::operator=(rhs); return *this; }
+ mat& operator=(const TYPE& rhs) { return helpers::doAssign(*this, rhs); }
+ // we only have one column, so ignore the index
+ const base& operator[](size_t) const { return *this; }
+ base& operator[](size_t) { return *this; }
+ void operator << (const vec<TYPE, R>& rhs) { base::operator[](0) = rhs; }
+};
+
+// -----------------------------------------------------------------------
+// matrix functions
+
+// transpose. this handles matrices of matrices
+inline int PURE transpose(int v) { return v; }
+inline float PURE transpose(float v) { return v; }
+inline double PURE transpose(double v) { return v; }
+
+// Transpose a matrix
+template <typename TYPE, size_t C, size_t R>
+mat<TYPE, R, C> PURE transpose(const mat<TYPE, C, R>& m) {
+ mat<TYPE, R, C> r;
+ for (size_t i=0 ; i<R ; i++)
+ for (size_t j=0 ; j<C ; j++)
+ r[i][j] = transpose(m[j][i]);
+ return r;
+}
+
+// Calculate the trace of a matrix
+template <typename TYPE, size_t C> static TYPE trace(const mat<TYPE, C, C>& m) {
+ TYPE t;
+ for (size_t i=0 ; i<C ; i++)
+ t += m[i][i];
+ return t;
+}
+
+// Test positive-semidefiniteness of a matrix
+template <typename TYPE, size_t C>
+static bool isPositiveSemidefinite(const mat<TYPE, C, C>& m, TYPE tolerance) {
+ for (size_t i=0 ; i<C ; i++)
+ if (m[i][i] < 0)
+ return false;
+
+ for (size_t i=0 ; i<C ; i++)
+ for (size_t j=i+1 ; j<C ; j++)
+ if (fabs(m[i][j] - m[j][i]) > tolerance)
+ return false;
+
+ return true;
+}
+
+// Transpose a vector
+template <
+ template<typename T, size_t S> class VEC,
+ typename TYPE,
+ size_t SIZE
+>
+mat<TYPE, SIZE, 1> PURE transpose(const VEC<TYPE, SIZE>& v) {
+ mat<TYPE, SIZE, 1> r;
+ for (size_t i=0 ; i<SIZE ; i++)
+ r[i][0] = transpose(v[i]);
+ return r;
+}
+
+// -----------------------------------------------------------------------
+// "dumb" matrix inversion
+template<typename T, size_t N>
+mat<T, N, N> PURE invert(const mat<T, N, N>& src) {
+ T t;
+ size_t swap;
+ mat<T, N, N> tmp(src);
+ mat<T, N, N> inverse(1);
+
+ for (size_t i=0 ; i<N ; i++) {
+ // look for largest element in column
+ swap = i;
+ for (size_t j=i+1 ; j<N ; j++) {
+ if (fabs(tmp[j][i]) > fabs(tmp[i][i])) {
+ swap = j;
+ }
+ }
+
+ if (swap != i) {
+ /* swap rows. */
+ for (size_t k=0 ; k<N ; k++) {
+ t = tmp[i][k];
+ tmp[i][k] = tmp[swap][k];
+ tmp[swap][k] = t;
+
+ t = inverse[i][k];
+ inverse[i][k] = inverse[swap][k];
+ inverse[swap][k] = t;
+ }
+ }
+
+ t = 1 / tmp[i][i];
+ for (size_t k=0 ; k<N ; k++) {
+ tmp[i][k] *= t;
+ inverse[i][k] *= t;
+ }
+ for (size_t j=0 ; j<N ; j++) {
+ if (j != i) {
+ t = tmp[j][i];
+ for (size_t k=0 ; k<N ; k++) {
+ tmp[j][k] -= tmp[i][k] * t;
+ inverse[j][k] -= inverse[i][k] * t;
+ }
+ }
+ }
+ }
+ return inverse;
+}
+
+// -----------------------------------------------------------------------
+
+typedef mat<float, 2, 2> mat22_t;
+typedef mat<float, 3, 3> mat33_t;
+typedef mat<float, 4, 4> mat44_t;
+
+// -----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif /* ANDROID_MAT_H */
--- /dev/null
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// released in android-11.0.0_r9
+
+#ifndef ANDROID_QUAT_H
+#define ANDROID_QUAT_H
+
+#include <math.h>
+
+#include "vec.h"
+#include "mat.h"
+
+// -----------------------------------------------------------------------
+namespace android {
+// -----------------------------------------------------------------------
+
+template <typename TYPE>
+mat<TYPE, 3, 3> quatToMatrix(const vec<TYPE, 4>& q) {
+ mat<TYPE, 3, 3> R;
+ TYPE q0(q.w);
+ TYPE q1(q.x);
+ TYPE q2(q.y);
+ TYPE q3(q.z);
+ TYPE sq_q1 = 2 * q1 * q1;
+ TYPE sq_q2 = 2 * q2 * q2;
+ TYPE sq_q3 = 2 * q3 * q3;
+ TYPE q1_q2 = 2 * q1 * q2;
+ TYPE q3_q0 = 2 * q3 * q0;
+ TYPE q1_q3 = 2 * q1 * q3;
+ TYPE q2_q0 = 2 * q2 * q0;
+ TYPE q2_q3 = 2 * q2 * q3;
+ TYPE q1_q0 = 2 * q1 * q0;
+ R[0][0] = 1 - sq_q2 - sq_q3;
+ R[0][1] = q1_q2 - q3_q0;
+ R[0][2] = q1_q3 + q2_q0;
+ R[1][0] = q1_q2 + q3_q0;
+ R[1][1] = 1 - sq_q1 - sq_q3;
+ R[1][2] = q2_q3 - q1_q0;
+ R[2][0] = q1_q3 - q2_q0;
+ R[2][1] = q2_q3 + q1_q0;
+ R[2][2] = 1 - sq_q1 - sq_q2;
+ return R;
+}
+
+template <typename TYPE>
+vec<TYPE, 4> matrixToQuat(const mat<TYPE, 3, 3>& R) {
+ // matrix to quaternion
+
+ struct {
+ inline TYPE operator()(TYPE v) {
+ return v < 0 ? 0 : v;
+ }
+ } clamp;
+
+ vec<TYPE, 4> q;
+ const float Hx = R[0].x;
+ const float My = R[1].y;
+ const float Az = R[2].z;
+ q.x = sqrtf( clamp( Hx - My - Az + 1) * 0.25f );
+ q.y = sqrtf( clamp(-Hx + My - Az + 1) * 0.25f );
+ q.z = sqrtf( clamp(-Hx - My + Az + 1) * 0.25f );
+ q.w = sqrtf( clamp( Hx + My + Az + 1) * 0.25f );
+ q.x = copysignf(q.x, R[2].y - R[1].z);
+ q.y = copysignf(q.y, R[0].z - R[2].x);
+ q.z = copysignf(q.z, R[1].x - R[0].y);
+ // guaranteed to be unit-quaternion
+ return q;
+}
+
+template <typename TYPE>
+vec<TYPE, 4> normalize_quat(const vec<TYPE, 4>& q) {
+ vec<TYPE, 4> r(q);
+ if (r.w < 0) {
+ r = -r;
+ }
+ return normalize(r);
+}
+
+// -----------------------------------------------------------------------
+
+typedef vec4_t quat_t;
+
+// -----------------------------------------------------------------------
+}; // namespace android
+
+#endif /* ANDROID_QUAT_H */
--- /dev/null
+#include <math.h>
+
+#define QUAT (M_PI/4)
+#define HALF (M_PI/2)
+#define ARCTAN(x, y) ((x) == 0 ? 0 : (y) != 0 ? atan2((x), (y)) : (x) > 0 ? M_PI/2.0 : -M_PI/2.0)
+
+const float RAD2DEG = 57.29577951;
+
+int quat_to_matrix(const float *quat, float *R)
+{
+ if (quat == NULL || R == NULL)
+ return -EINVAL;
+
+ float q0 = quat[3];
+ float q1 = quat[0];
+ float q2 = quat[1];
+ float q3 = quat[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;
+
+ 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;
+
+ return 0;
+}
+
+int quat_to_orientation(const float *quat, float &azimuth, float &pitch, float &roll)
+{
+ int error;
+ float g[3];
+ float R[9];
+
+ error = quat_to_matrix(quat, R);
+
+ if (error < 0)
+ return error;
+
+ float xyz_z = ARCTAN(R[3], R[0]);
+ float yxz_x = asinf(R[7]);
+ float yxz_y = ARCTAN(-R[6], R[8]);
+ float yxz_z = ARCTAN(-R[1], R[4]);
+
+ float a = fabs(yxz_x / HALF);
+ a = a * a;
+
+ float p = (fabs(yxz_y) / HALF - 1.0);
+
+ if (p < 0)
+ p = 0;
+
+ float v = 1 + (1 - a) / a * p;
+
+ if (v > 20)
+ v = 20;
+
+ if (yxz_x * yxz_y > 0) {
+ if (yxz_z > 0 && xyz_z < 0)
+ xyz_z += M_PI * 2;
+ } else {
+ if (yxz_z < 0 && xyz_z > 0)
+ xyz_z -= M_PI * 2;
+ }
+
+ g[0] = (1 - a * v) * yxz_z + (a * v) * xyz_z;
+ g[0] *= -1;
+
+ float tmp = R[7];
+
+ if (tmp > 1.0f)
+ tmp = 1.0f;
+ else if (tmp < -1.0f)
+ tmp = -1.0f;
+
+ g[1] = -asinf(tmp);
+ if (R[8] < 0)
+ g[1] = M_PI - g[1];
+
+ if (g[1] > M_PI)
+ g[1] -= M_PI * 2;
+
+ if ((fabs(R[7]) > QUAT))
+ g[2] = (float) atan2f(R[6], R[7]);
+ else
+ g[2] = (float) atan2f(R[6], R[8]);
+
+ if (g[2] > HALF)
+ g[2] = M_PI - g[2];
+ else if (g[2] < -HALF)
+ g[2] = -M_PI - g[2];
+
+ g[0] *= RAD2DEG;
+ g[1] *= RAD2DEG;
+ g[2] *= RAD2DEG;
+
+ if (g[0] < 0)
+ g[0] += 360;
+
+ azimuth = g[0];
+ pitch = g[1];
+ roll = g[2];
+
+ return 0;
+}
\ No newline at end of file
--- /dev/null
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// released in android-11.0.0_r9
+
+#ifndef ANDROID_TRAITS_H
+#define ANDROID_TRAITS_H
+
+// -----------------------------------------------------------------------
+// Typelists
+
+namespace android {
+
+// end-of-list marker
+class NullType {};
+
+// type-list node
+template <typename T, typename U>
+struct TypeList {
+ typedef T Head;
+ typedef U Tail;
+};
+
+// helpers to build typelists
+#define TYPELIST_1(T1) TypeList<T1, NullType>
+#define TYPELIST_2(T1, T2) TypeList<T1, TYPELIST_1(T2)>
+#define TYPELIST_3(T1, T2, T3) TypeList<T1, TYPELIST_2(T2, T3)>
+#define TYPELIST_4(T1, T2, T3, T4) TypeList<T1, TYPELIST_3(T2, T3, T4)>
+
+// typelists algorithms
+namespace TL {
+template <typename TList, typename T> struct IndexOf;
+
+template <typename T>
+struct IndexOf<NullType, T> {
+ enum { value = -1 };
+};
+
+template <typename T, typename Tail>
+struct IndexOf<TypeList<T, Tail>, T> {
+ enum { value = 0 };
+};
+
+template <typename Head, typename Tail, typename T>
+struct IndexOf<TypeList<Head, Tail>, T> {
+private:
+ enum { temp = IndexOf<Tail, T>::value };
+public:
+ enum { value = temp == -1 ? -1 : 1 + temp };
+};
+
+}; // namespace TL
+
+// type selection based on a boolean
+template <bool flag, typename T, typename U>
+struct Select {
+ typedef T Result;
+};
+template <typename T, typename U>
+struct Select<false, T, U> {
+ typedef U Result;
+};
+
+// -----------------------------------------------------------------------
+// Type traits
+
+template <typename T>
+class TypeTraits {
+ typedef TYPELIST_4(
+ unsigned char, unsigned short,
+ unsigned int, unsigned long int) UnsignedInts;
+
+ typedef TYPELIST_4(
+ signed char, signed short,
+ signed int, signed long int) SignedInts;
+
+ typedef TYPELIST_1(
+ bool) OtherInts;
+
+ typedef TYPELIST_3(
+ float, double, long double) Floats;
+
+ template<typename U> struct PointerTraits {
+ enum { result = false };
+ typedef NullType PointeeType;
+ };
+ template<typename U> struct PointerTraits<U*> {
+ enum { result = true };
+ typedef U PointeeType;
+ };
+
+public:
+ enum { isStdUnsignedInt = TL::IndexOf<UnsignedInts, T>::value >= 0 };
+ enum { isStdSignedInt = TL::IndexOf<SignedInts, T>::value >= 0 };
+ enum { isStdIntegral = TL::IndexOf<OtherInts, T>::value >= 0 || isStdUnsignedInt || isStdSignedInt };
+ enum { isStdFloat = TL::IndexOf<Floats, T>::value >= 0 };
+ enum { isPointer = PointerTraits<T>::result };
+ enum { isStdArith = isStdIntegral || isStdFloat };
+
+ // best parameter type for given type
+ typedef typename Select<isStdArith || isPointer, T, const T&>::Result ParameterType;
+};
+
+// -----------------------------------------------------------------------
+}; // namespace android
+
+#endif /* ANDROID_TRAITS_H */
--- /dev/null
+/*
+ * Copyright (C) 2011 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ * http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// released in android-11.0.0_r9
+
+#ifndef ANDROID_VEC_H
+#define ANDROID_VEC_H
+
+#include <math.h>
+
+#include <stdint.h>
+#include <stddef.h>
+
+#include "traits.h"
+
+// -----------------------------------------------------------------------
+
+#define PURE __attribute__((pure))
+
+namespace android {
+
+// -----------------------------------------------------------------------
+// non-inline helpers
+
+template <typename TYPE, size_t SIZE>
+class vec;
+
+template <typename TYPE, size_t SIZE>
+struct vbase;
+
+namespace helpers {
+
+template <typename T> inline T min(T a, T b) { return a<b ? a : b; }
+template <typename T> inline T max(T a, T b) { return a>b ? a : b; }
+
+template < template<typename T, size_t S> class VEC,
+ typename TYPE, size_t SIZE, size_t S>
+vec<TYPE, SIZE>& doAssign(
+ vec<TYPE, SIZE>& lhs, const VEC<TYPE, S>& rhs) {
+ const size_t minSize = min(SIZE, S);
+ const size_t maxSize = max(SIZE, S);
+ for (size_t i=0 ; i<minSize ; i++)
+ lhs[i] = rhs[i];
+ for (size_t i=minSize ; i<maxSize ; i++)
+ lhs[i] = 0;
+ return lhs;
+}
+
+
+template <
+ template<typename T, size_t S> class VLHS,
+ template<typename T, size_t S> class VRHS,
+ typename TYPE,
+ size_t SIZE
+>
+VLHS<TYPE, SIZE> PURE doAdd(
+ const VLHS<TYPE, SIZE>& lhs,
+ const VRHS<TYPE, SIZE>& rhs) {
+ VLHS<TYPE, SIZE> r;
+ for (size_t i=0 ; i<SIZE ; i++)
+ r[i] = lhs[i] + rhs[i];
+ return r;
+}
+
+template <
+ template<typename T, size_t S> class VLHS,
+ template<typename T, size_t S> class VRHS,
+ typename TYPE,
+ size_t SIZE
+>
+VLHS<TYPE, SIZE> PURE doSub(
+ const VLHS<TYPE, SIZE>& lhs,
+ const VRHS<TYPE, SIZE>& rhs) {
+ VLHS<TYPE, SIZE> r;
+ for (size_t i=0 ; i<SIZE ; i++)
+ r[i] = lhs[i] - rhs[i];
+ return r;
+}
+
+template <
+ template<typename T, size_t S> class VEC,
+ typename TYPE,
+ size_t SIZE
+>
+VEC<TYPE, SIZE> PURE doMulScalar(
+ const VEC<TYPE, SIZE>& lhs,
+ typename TypeTraits<TYPE>::ParameterType rhs) {
+ VEC<TYPE, SIZE> r;
+ for (size_t i=0 ; i<SIZE ; i++)
+ r[i] = lhs[i] * rhs;
+ return r;
+}
+
+template <
+ template<typename T, size_t S> class VEC,
+ typename TYPE,
+ size_t SIZE
+>
+VEC<TYPE, SIZE> PURE doScalarMul(
+ typename TypeTraits<TYPE>::ParameterType lhs,
+ const VEC<TYPE, SIZE>& rhs) {
+ VEC<TYPE, SIZE> r;
+ for (size_t i=0 ; i<SIZE ; i++)
+ r[i] = lhs * rhs[i];
+ return r;
+}
+
+}; // namespace helpers
+
+// -----------------------------------------------------------------------
+// Below we define the mathematical operators for vectors.
+// We use template template arguments so we can generically
+// handle the case where the right-hand-size and left-hand-side are
+// different vector types (but with same value_type and size).
+// This is needed for performance when using ".xy{z}" element access
+// on vec<>. Without this, an extra conversion to vec<> would be needed.
+//
+// example:
+// vec4_t a;
+// vec3_t b;
+// vec3_t c = a.xyz + b;
+//
+// "a.xyz + b" is a mixed-operation between a vbase<> and a vec<>, requiring
+// a conversion of vbase<> to vec<>. The template gunk below avoids this,
+// by allowing the addition on these different vector types directly
+//
+
+template <
+ template<typename T, size_t S> class VLHS,
+ template<typename T, size_t S> class VRHS,
+ typename TYPE,
+ size_t SIZE
+>
+inline VLHS<TYPE, SIZE> PURE operator + (
+ const VLHS<TYPE, SIZE>& lhs,
+ const VRHS<TYPE, SIZE>& rhs) {
+ return helpers::doAdd(lhs, rhs);
+}
+
+template <
+ template<typename T, size_t S> class VLHS,
+ template<typename T, size_t S> class VRHS,
+ typename TYPE,
+ size_t SIZE
+>
+inline VLHS<TYPE, SIZE> PURE operator - (
+ const VLHS<TYPE, SIZE>& lhs,
+ const VRHS<TYPE, SIZE>& rhs) {
+ return helpers::doSub(lhs, rhs);
+}
+
+template <
+ template<typename T, size_t S> class VEC,
+ typename TYPE,
+ size_t SIZE
+>
+inline VEC<TYPE, SIZE> PURE operator * (
+ const VEC<TYPE, SIZE>& lhs,
+ typename TypeTraits<TYPE>::ParameterType rhs) {
+ return helpers::doMulScalar(lhs, rhs);
+}
+
+template <
+ template<typename T, size_t S> class VEC,
+ typename TYPE,
+ size_t SIZE
+>
+inline VEC<TYPE, SIZE> PURE operator * (
+ typename TypeTraits<TYPE>::ParameterType lhs,
+ const VEC<TYPE, SIZE>& rhs) {
+ return helpers::doScalarMul(lhs, rhs);
+}
+
+
+template <
+ template<typename T, size_t S> class VLHS,
+ template<typename T, size_t S> class VRHS,
+ typename TYPE,
+ size_t SIZE
+>
+TYPE PURE dot_product(
+ const VLHS<TYPE, SIZE>& lhs,
+ const VRHS<TYPE, SIZE>& rhs) {
+ TYPE r(0);
+ for (size_t i=0 ; i<SIZE ; i++)
+ r += lhs[i] * rhs[i];
+ return r;
+}
+
+template <
+ template<typename T, size_t S> class V,
+ typename TYPE,
+ size_t SIZE
+>
+TYPE PURE length(const V<TYPE, SIZE>& v) {
+ return sqrt(dot_product(v, v));
+}
+
+template <
+ template<typename T, size_t S> class V,
+ typename TYPE,
+ size_t SIZE
+>
+TYPE PURE length_squared(const V<TYPE, SIZE>& v) {
+ return dot_product(v, v);
+}
+
+template <
+ template<typename T, size_t S> class V,
+ typename TYPE,
+ size_t SIZE
+>
+V<TYPE, SIZE> PURE normalize(const V<TYPE, SIZE>& v) {
+ return v * (1/length(v));
+}
+
+template <
+ template<typename T, size_t S> class VLHS,
+ template<typename T, size_t S> class VRHS,
+ typename TYPE
+>
+VLHS<TYPE, 3> PURE cross_product(
+ const VLHS<TYPE, 3>& u,
+ const VRHS<TYPE, 3>& v) {
+ VLHS<TYPE, 3> r;
+ r.x = u.y*v.z - u.z*v.y;
+ r.y = u.z*v.x - u.x*v.z;
+ r.z = u.x*v.y - u.y*v.x;
+ return r;
+}
+
+
+template <typename TYPE, size_t SIZE>
+vec<TYPE, SIZE> PURE operator - (const vec<TYPE, SIZE>& lhs) {
+ vec<TYPE, SIZE> r;
+ for (size_t i=0 ; i<SIZE ; i++)
+ r[i] = -lhs[i];
+ return r;
+}
+
+// -----------------------------------------------------------------------
+
+// This our basic vector type, it just implements the data storage
+// and accessors.
+
+template <typename TYPE, size_t SIZE>
+struct vbase {
+ TYPE v[SIZE];
+ inline const TYPE& operator[](size_t i) const { return v[i]; }
+ inline TYPE& operator[](size_t i) { return v[i]; }
+};
+template<> struct vbase<float, 2> {
+ union {
+ float v[2];
+ struct { float x, y; };
+ struct { float s, t; };
+ };
+ inline const float& operator[](size_t i) const { return v[i]; }
+ inline float& operator[](size_t i) { return v[i]; }
+};
+template<> struct vbase<float, 3> {
+ union {
+ float v[3];
+ struct { float x, y, z; };
+ struct { float s, t, r; };
+ vbase<float, 2> xy;
+ vbase<float, 2> st;
+ };
+ inline const float& operator[](size_t i) const { return v[i]; }
+ inline float& operator[](size_t i) { return v[i]; }
+};
+template<> struct vbase<float, 4> {
+ union {
+ float v[4];
+ struct { float x, y, z, w; };
+ struct { float s, t, r, q; };
+ vbase<float, 3> xyz;
+ vbase<float, 3> str;
+ vbase<float, 2> xy;
+ vbase<float, 2> st;
+ };
+ inline const float& operator[](size_t i) const { return v[i]; }
+ inline float& operator[](size_t i) { return v[i]; }
+};
+
+// -----------------------------------------------------------------------
+
+template <typename TYPE, size_t SIZE>
+class vec : public vbase<TYPE, SIZE>
+{
+ typedef typename TypeTraits<TYPE>::ParameterType pTYPE;
+ typedef vbase<TYPE, SIZE> base;
+
+public:
+ // STL-like interface.
+ typedef TYPE value_type;
+ typedef TYPE& reference;
+ typedef TYPE const& const_reference;
+ typedef size_t size_type;
+
+ typedef TYPE* iterator;
+ typedef TYPE const* const_iterator;
+ iterator begin() { return base::v; }
+ iterator end() { return base::v + SIZE; }
+ const_iterator begin() const { return base::v; }
+ const_iterator end() const { return base::v + SIZE; }
+ size_type size() const { return SIZE; }
+
+ // -----------------------------------------------------------------------
+ // default constructors
+
+ vec() { }
+ vec(const vec& rhs) : base(rhs) { }
+ vec(const base& rhs) : base(rhs) { } // NOLINT(google-explicit-constructor)
+
+ // -----------------------------------------------------------------------
+ // conversion constructors
+
+ vec(pTYPE rhs) { // NOLINT(google-explicit-constructor)
+ for (size_t i=0 ; i<SIZE ; i++)
+ base::operator[](i) = rhs;
+ }
+
+ template < template<typename T, size_t S> class VEC, size_t S>
+ explicit vec(const VEC<TYPE, S>& rhs) {
+ helpers::doAssign(*this, rhs);
+ }
+
+ explicit vec(TYPE const* array) {
+ for (size_t i=0 ; i<SIZE ; i++)
+ base::operator[](i) = array[i];
+ }
+
+ // -----------------------------------------------------------------------
+ // Assignment
+
+ vec& operator = (const vec& rhs) {
+ base::operator=(rhs);
+ return *this;
+ }
+
+ vec& operator = (const base& rhs) {
+ base::operator=(rhs);
+ return *this;
+ }
+
+ vec& operator = (pTYPE rhs) {
+ for (size_t i=0 ; i<SIZE ; i++)
+ base::operator[](i) = rhs;
+ return *this;
+ }
+
+ template < template<typename T, size_t S> class VEC, size_t S>
+ vec& operator = (const VEC<TYPE, S>& rhs) {
+ return helpers::doAssign(*this, rhs);
+ }
+
+ // -----------------------------------------------------------------------
+ // operation-assignment
+
+ vec& operator += (const vec& rhs);
+ vec& operator -= (const vec& rhs);
+ vec& operator *= (pTYPE rhs);
+
+ // -----------------------------------------------------------------------
+ // non-member function declaration and definition
+ // NOTE: we declare the non-member function as friend inside the class
+ // so that they are known to the compiler when the class is instantiated.
+ // This helps the compiler doing template argument deduction when the
+ // passed types are not identical. Essentially this helps with
+ // type conversion so that you can multiply a vec<float> by an scalar int
+ // (for instance).
+
+ friend inline vec PURE operator + (const vec& lhs, const vec& rhs) {
+ return helpers::doAdd(lhs, rhs);
+ }
+ friend inline vec PURE operator - (const vec& lhs, const vec& rhs) {
+ return helpers::doSub(lhs, rhs);
+ }
+ friend inline vec PURE operator * (const vec& lhs, pTYPE v) {
+ return helpers::doMulScalar(lhs, v);
+ }
+ friend inline vec PURE operator * (pTYPE v, const vec& rhs) {
+ return helpers::doScalarMul(v, rhs);
+ }
+ friend inline TYPE PURE dot_product(const vec& lhs, const vec& rhs) {
+ return android::dot_product(lhs, rhs);
+ }
+};
+
+// -----------------------------------------------------------------------
+
+template <typename TYPE, size_t SIZE>
+vec<TYPE, SIZE>& vec<TYPE, SIZE>::operator += (const vec<TYPE, SIZE>& rhs) {
+ vec<TYPE, SIZE>& lhs(*this);
+ for (size_t i=0 ; i<SIZE ; i++)
+ lhs[i] += rhs[i];
+ return lhs;
+}
+
+template <typename TYPE, size_t SIZE>
+vec<TYPE, SIZE>& vec<TYPE, SIZE>::operator -= (const vec<TYPE, SIZE>& rhs) {
+ vec<TYPE, SIZE>& lhs(*this);
+ for (size_t i=0 ; i<SIZE ; i++)
+ lhs[i] -= rhs[i];
+ return lhs;
+}
+
+template <typename TYPE, size_t SIZE>
+vec<TYPE, SIZE>& vec<TYPE, SIZE>::operator *= (vec<TYPE, SIZE>::pTYPE rhs) {
+ vec<TYPE, SIZE>& lhs(*this);
+ for (size_t i=0 ; i<SIZE ; i++)
+ lhs[i] *= rhs;
+ return lhs;
+}
+
+// -----------------------------------------------------------------------
+
+typedef vec<float, 2> vec2_t;
+typedef vec<float, 3> vec3_t;
+typedef vec<float, 4> vec4_t;
+
+// -----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif /* ANDROID_VEC_H */
CMAKE_MINIMUM_REQUIRED(VERSION 2.6)
-PROJECT(sensor-stresstests C)
+PROJECT(sensor-stress_test C)
SET(PKG_MODULES
glib-2.0)
static void sensor_callback(sensor_h sensor, sensor_event_s events[], int events_count, void *user_data)
{
- const char *name;
sensor_type_e type;
sensor_get_type(sensor, &type);
int num = 0;
for (int i = 0; i < SENSOR_NUM; ++i){
if (sensor_type[i] == type){
- name = sensor_name[i];
num = i;
break;
}
projects / platform / core / api / sensor.git / commitdiff