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Adding a sensor for device pose with six degrees of freedom

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Adding a sensor type that returns the device pose as a -
    . quaternion representing rotation from a vector due north
      and zero pitch and roll &&
    . a translation from an initial position

Change-Id: I8764b8c0b9a2518632f75c7a19c203836dd04b1a
This commit is contained in:
Ashutosh Joshi
2016-01-14 22:23:58 -08:00
parent 92b26c5bff
commit 17efe02a05
5 changed files with 64 additions and 0 deletions
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2
api/current.txt
View File

@@ -13375,6 +13375,7 @@ package android.hardware {
field public static final java.lang.String STRING_TYPE_MAGNETIC_FIELD = "android.sensor.magnetic_field";
field public static final java.lang.String STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED = "android.sensor.magnetic_field_uncalibrated";
field public static final deprecated java.lang.String STRING_TYPE_ORIENTATION = "android.sensor.orientation";
field public static final java.lang.String STRING_TYPE_POSE_6DOF = "android.sensor.pose_6dof";
field public static final java.lang.String STRING_TYPE_PRESSURE = "android.sensor.pressure";
field public static final java.lang.String STRING_TYPE_PROXIMITY = "android.sensor.proximity";
field public static final java.lang.String STRING_TYPE_RELATIVE_HUMIDITY = "android.sensor.relative_humidity";
@@ -13397,6 +13398,7 @@ package android.hardware {
field public static final int TYPE_MAGNETIC_FIELD = 2; // 0x2
field public static final int TYPE_MAGNETIC_FIELD_UNCALIBRATED = 14; // 0xe
field public static final deprecated int TYPE_ORIENTATION = 3; // 0x3
field public static final int TYPE_POSE_6DOF = 28; // 0x1c
field public static final int TYPE_PRESSURE = 6; // 0x6
field public static final int TYPE_PROXIMITY = 8; // 0x8
field public static final int TYPE_RELATIVE_HUMIDITY = 12; // 0xc

2
api/system-current.txt
View File

@@ -13772,6 +13772,7 @@ package android.hardware {
field public static final java.lang.String STRING_TYPE_MAGNETIC_FIELD = "android.sensor.magnetic_field";
field public static final java.lang.String STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED = "android.sensor.magnetic_field_uncalibrated";
field public static final deprecated java.lang.String STRING_TYPE_ORIENTATION = "android.sensor.orientation";
field public static final java.lang.String STRING_TYPE_POSE_6DOF = "android.sensor.pose_6dof";
field public static final java.lang.String STRING_TYPE_PRESSURE = "android.sensor.pressure";
field public static final java.lang.String STRING_TYPE_PROXIMITY = "android.sensor.proximity";
field public static final java.lang.String STRING_TYPE_RELATIVE_HUMIDITY = "android.sensor.relative_humidity";
@@ -13795,6 +13796,7 @@ package android.hardware {
field public static final int TYPE_MAGNETIC_FIELD = 2; // 0x2
field public static final int TYPE_MAGNETIC_FIELD_UNCALIBRATED = 14; // 0xe
field public static final deprecated int TYPE_ORIENTATION = 3; // 0x3
field public static final int TYPE_POSE_6DOF = 28; // 0x1c
field public static final int TYPE_PRESSURE = 6; // 0x6
field public static final int TYPE_PROXIMITY = 8; // 0x8
field public static final int TYPE_RELATIVE_HUMIDITY = 12; // 0xc

2
api/test-current.txt
View File

@@ -13383,6 +13383,7 @@ package android.hardware {
field public static final java.lang.String STRING_TYPE_MAGNETIC_FIELD = "android.sensor.magnetic_field";
field public static final java.lang.String STRING_TYPE_MAGNETIC_FIELD_UNCALIBRATED = "android.sensor.magnetic_field_uncalibrated";
field public static final deprecated java.lang.String STRING_TYPE_ORIENTATION = "android.sensor.orientation";
field public static final java.lang.String STRING_TYPE_POSE_6DOF = "android.sensor.pose_6dof";
field public static final java.lang.String STRING_TYPE_PRESSURE = "android.sensor.pressure";
field public static final java.lang.String STRING_TYPE_PROXIMITY = "android.sensor.proximity";
field public static final java.lang.String STRING_TYPE_RELATIVE_HUMIDITY = "android.sensor.relative_humidity";
@@ -13405,6 +13406,7 @@ package android.hardware {
field public static final int TYPE_MAGNETIC_FIELD = 2; // 0x2
field public static final int TYPE_MAGNETIC_FIELD_UNCALIBRATED = 14; // 0xe
field public static final deprecated int TYPE_ORIENTATION = 3; // 0x3
field public static final int TYPE_POSE_6DOF = 28; // 0x1c
field public static final int TYPE_PRESSURE = 6; // 0x6
field public static final int TYPE_PROXIMITY = 8; // 0x8
field public static final int TYPE_RELATIVE_HUMIDITY = 12; // 0xc

24
core/java/android/hardware/Sensor.java
View File

@@ -551,6 +551,29 @@ public final class Sensor {
*/
public static final String STRING_TYPE_DEVICE_ORIENTATION = "android.sensor.device_orientation";
/**
* A constant describing a pose sensor with 6 degrees of freedom.
*
* Similar to {@link #TYPE_ROTATION_VECTOR}, with additional delta
* translation from an arbitrary reference point.
*
* Can use camera, depth sensor etc to compute output value.
*
* This is expected to be a high power sensor and expected only to be
* used when the screen is on.
*
* Expected to be more accurate than the rotation vector alone.
*
*/
public static final int TYPE_POSE_6DOF = 28;
/**
* A constant string describing a pose sensor with 6 degrees of freedom.
*
* @see #TYPE_POSE_6DOF
*/
public static final String STRING_TYPE_POSE_6DOF = "android.sensor.pose_6dof";
/**
* A constant describing all sensor types.
*/
@@ -637,6 +660,7 @@ public final class Sensor {
1, // SENSOR_TYPE_PICK_UP_GESTURE
1, // SENSOR_TYPE_WRIST_TILT_GESTURE
1, // SENSOR_TYPE_DEVICE_ORIENTATION
16, // SENSOR_TYPE_POSE_6DOF
};
/**

34
core/java/android/hardware/SensorEvent.java
View File

@@ -497,6 +497,40 @@ public class SensorEvent {
* <li> 3: device is rotated 90 degrees clockwise from default orientation (X axis
* is vertical and points down)
* </ul>
*
* <h4>{@link android.hardware.Sensor#TYPE_POSE_6DOF
* Sensor.TYPE_POSE_6DOF}:</h4>
*
* A TYPE_POSE_6DOF event consists of a rotation expressed as a quaternion and a translation
* expressed in SI units. The event also contains a delta rotation and translation that show
* how the device?s pose has changed since the previous sequence numbered pose.
* The event uses the cannonical Android Sensor axes.
*
*
* <ul>
* <li> values[0]: x*sin(&#952/2) </li>
* <li> values[1]: y*sin(&#952/2) </li>
* <li> values[2]: z*sin(&#952/2) </li>
* <li> values[3]: cos(&#952/2) </li>
*
*
* <li> values[4]: Translation along x axis from an arbitrary origin. </li>
* li> values[5]: Translation along y axis from an arbitrary origin. </li>
* <li> values[6]: Translation along z axis from an arbitrary origin. </li>
*
* <li> values[7]: Delta quaternion rotation x*sin(&#952/2) </li>
* <li> values[8]: Delta quaternion rotation y*sin(&#952/2) </li>
* <li> values[9]: Delta quaternion rotation z*sin(&#952/2) </li>
* <li> values[10]: Delta quaternion rotation cos(&#952/2) </li>
*
* <li> values[11]: Delta translation along x axis. </li>
* <li> values[12]: Delta translation along y axis. </li>
* <li> values[13]: Delta translation along z axis. </li>
*
* <li> values[14]: Sequence number </li>
*
* </ul>
*
*/
public final float[] values;