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Merge "Compute AnyMotionDetector angle using atan2. Bug: 29232136" into nyc-mr1-dev

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This commit is contained in:
Kevin Gabayan
2016-06-11 00:20:41 +00:00
committed by Android (Google) Code Review
parent 5985e3f92f b070577d35
commit 21f47bcf8c
2 changed files with 180 additions and 8 deletions
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24
services/core/java/com/android/server/AnyMotionDetector.java
View File

@@ -308,7 +308,7 @@ public class AnyMotionDetector {
/**
* A timestamped three dimensional vector and some vector operations.
*/
private static class Vector3 {
public static final class Vector3 {
public long timeMillisSinceBoot;
public float x;
public float y;
@@ -321,11 +321,11 @@ public class AnyMotionDetector {
this.z = z;
}
private float norm() {
public float norm() {
return (float) Math.sqrt(dotProduct(this));
}
private Vector3 normalized() {
public Vector3 normalized() {
float mag = norm();
return new Vector3(timeMillisSinceBoot, x / mag, y / mag, z / mag);
}
@@ -338,12 +338,20 @@ public class AnyMotionDetector {
* @return angle between this vector and the other given one.
*/
public float angleBetween(Vector3 other) {
double degrees = Math.toDegrees(Math.acos(this.dotProduct(other)));
float returnValue = (float) degrees;
Vector3 crossVector = cross(other);
float degrees = Math.abs((float)Math.toDegrees(
Math.atan2(crossVector.norm(), dotProduct(other))));
Slog.d(TAG, "angleBetween: this = " + this.toString() +
", other = " + other.toString());
Slog.d(TAG, " degrees = " + degrees + ", returnValue = " + returnValue);
return returnValue;
", other = " + other.toString() + ", degrees = " + degrees);
return degrees;
}
public Vector3 cross(Vector3 v) {
return new Vector3(
v.timeMillisSinceBoot,
y * v.z - z * v.y,
z * v.x - x * v.z,
x * v.y - y * v.x);
}
@Override

164
services/tests/servicestests/src/com/android/server/Vector3Test.java Normal file
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@@ -0,0 +1,164 @@
/*
* Copyright (C) 2016 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.
*/
package com.android.server;
import android.test.AndroidTestCase;
import java.lang.Exception;
import java.lang.Math;
/**
* Tests for {@link com.android.server.AnyMotionDetector.Vector3}
*/
public class Vector3Test extends AndroidTestCase {
private static final float tolerance = 1.0f / (1 << 12);
private static final float STATIONARY_ANGLE_THRESHOLD = 0.05f;
private AnyMotionDetector.Vector3 unitXAxis;
private AnyMotionDetector.Vector3 unitYAxis;
private AnyMotionDetector.Vector3 unitZAxis;
private AnyMotionDetector.Vector3 x3;
private AnyMotionDetector.Vector3 case1A;
private AnyMotionDetector.Vector3 case1B;
private AnyMotionDetector.Vector3 case2A;
private AnyMotionDetector.Vector3 case2B;
private AnyMotionDetector.Vector3 x1y1;
private AnyMotionDetector.Vector3 xn1y1;
private AnyMotionDetector.Vector3 x1z1;
private AnyMotionDetector.Vector3 y1z1;
private AnyMotionDetector.Vector3 piOverSixUnitCircle;
private boolean nearlyEqual(float a, float b) {
return Math.abs(a - b) <= tolerance;
}
public void setUp() throws Exception {
super.setUp();
unitXAxis = new AnyMotionDetector.Vector3(0, 1, 0, 0);
unitYAxis = new AnyMotionDetector.Vector3(0, 0, 1, 0);
unitZAxis = new AnyMotionDetector.Vector3(0, 0, 0, 1);
x3 = new AnyMotionDetector.Vector3(0, 3, 0, 0);
x1y1 = new AnyMotionDetector.Vector3(0, 1, 1, 0);
xn1y1 = new AnyMotionDetector.Vector3(0, -1, 1, 0);
x1z1 = new AnyMotionDetector.Vector3(0, 1, 0, 1);
y1z1 = new AnyMotionDetector.Vector3(0, 0, 1, 1);
piOverSixUnitCircle = new AnyMotionDetector.Vector3(
0, (float)Math.sqrt(3)/2, (float)0.5, 0);
case1A = new AnyMotionDetector.Vector3(0, -9.81f, -0.02f, 0.3f);
case1B = new AnyMotionDetector.Vector3(0, -9.80f, -0.02f, 0.3f);
case2A = new AnyMotionDetector.Vector3(0, 1f, 2f, 3f);
case2B = new AnyMotionDetector.Vector3(0, 4f, 5f, 6f);
}
public void testVector3Norm() {
assertTrue(nearlyEqual(unitXAxis.norm(), 1.0f));
assertTrue(nearlyEqual(unitYAxis.norm(), 1.0f));
assertTrue(nearlyEqual(unitZAxis.norm(), 1.0f));
assertTrue(nearlyEqual(x1y1.norm(), (float)Math.sqrt(2)));
}
public void testVector3AngleBetween() {
// Zero angle.
assertTrue(nearlyEqual(unitXAxis.angleBetween(unitXAxis), 0.0f));
assertTrue(nearlyEqual(unitYAxis.angleBetween(unitYAxis), 0.0f));
assertTrue(nearlyEqual(unitZAxis.angleBetween(unitZAxis), 0.0f));
// Unit axes should be perpendicular.
assertTrue(nearlyEqual(unitXAxis.angleBetween(unitYAxis), 90.0f));
assertTrue(nearlyEqual(unitXAxis.angleBetween(unitZAxis), 90.0f));
assertTrue(nearlyEqual(unitYAxis.angleBetween(unitZAxis), 90.0f));
// 45 degree angles.
assertTrue(nearlyEqual(unitXAxis.angleBetween(x1y1), 45.0f));
assertTrue(nearlyEqual(unitYAxis.angleBetween(x1y1), 45.0f));
// 135 degree angles.
assertTrue(nearlyEqual(xn1y1.angleBetween(unitXAxis), 135.0f));
// 30 degree angles.
assertTrue(nearlyEqual(piOverSixUnitCircle.angleBetween(unitXAxis), 30.0f));
// These vectors are expected to be still.
assertTrue(case1A.angleBetween(case1A) < STATIONARY_ANGLE_THRESHOLD);
assertTrue(case1A.angleBetween(case1B) < STATIONARY_ANGLE_THRESHOLD);
assertTrue(unitXAxis.angleBetween(unitXAxis) < STATIONARY_ANGLE_THRESHOLD);
assertTrue(unitYAxis.angleBetween(unitYAxis) < STATIONARY_ANGLE_THRESHOLD);
assertTrue(unitZAxis.angleBetween(unitZAxis) < STATIONARY_ANGLE_THRESHOLD);
}
public void testVector3Normalized() {
AnyMotionDetector.Vector3 unitXAxisNormalized = unitXAxis.normalized();
assertTrue(nearlyEqual(unitXAxisNormalized.x, unitXAxis.x));
assertTrue(nearlyEqual(unitXAxisNormalized.y, unitXAxis.y));
assertTrue(nearlyEqual(unitXAxisNormalized.z, unitXAxis.z));
// Normalizing the vector created by multiplying the unit vector by 3 gets the unit vector.
AnyMotionDetector.Vector3 x3Normalized = x3.normalized();
assertTrue(nearlyEqual(x3Normalized.x, unitXAxis.x));
assertTrue(nearlyEqual(x3Normalized.y, unitXAxis.y));
assertTrue(nearlyEqual(x3Normalized.z, unitXAxis.z));
}
public void testVector3Cross() {
AnyMotionDetector.Vector3 xCrossX = unitXAxis.cross(unitXAxis);
assertTrue(nearlyEqual(xCrossX.x, 0f));
assertTrue(nearlyEqual(xCrossX.y, 0f));
assertTrue(nearlyEqual(xCrossX.z, 0f));
AnyMotionDetector.Vector3 xCrossNx = unitXAxis.cross(unitXAxis.times(-1));
assertTrue(nearlyEqual(xCrossNx.x, 0f));
assertTrue(nearlyEqual(xCrossNx.y, 0f));
assertTrue(nearlyEqual(xCrossNx.z, 0f));
AnyMotionDetector.Vector3 cross2 = case2A.cross(case2B);
assertTrue(nearlyEqual(cross2.x, -3));
assertTrue(nearlyEqual(cross2.y, 6));
assertTrue(nearlyEqual(cross2.z, -3));
}
public void testVector3Times() {
AnyMotionDetector.Vector3 yTimes2 = unitYAxis.times(2);
assertTrue(nearlyEqual(yTimes2.x, 0f));
assertTrue(nearlyEqual(yTimes2.y, 2f));
assertTrue(nearlyEqual(yTimes2.z, 0f));
}
public void testVector3Plus() {
AnyMotionDetector.Vector3 xPlusY = unitXAxis.plus(unitYAxis);
assertTrue(nearlyEqual(xPlusY.x, 1f));
assertTrue(nearlyEqual(xPlusY.y, 1f));
assertTrue(nearlyEqual(xPlusY.z, 0f));
}
public void testVector3Minus() {
AnyMotionDetector.Vector3 xMinusY = unitXAxis.minus(unitYAxis);
assertTrue(nearlyEqual(xMinusY.x, 1f));
assertTrue(nearlyEqual(xMinusY.y, -1f));
assertTrue(nearlyEqual(xMinusY.z, 0f));
}
public void testVector3DotProduct() {
float xDotX = unitXAxis.dotProduct(unitXAxis);
float xDotY = unitXAxis.dotProduct(unitYAxis);
float xDotZ = unitXAxis.dotProduct(unitZAxis);
assertTrue(nearlyEqual(xDotX, 1f));
assertTrue(nearlyEqual(xDotY, 0f));
assertTrue(nearlyEqual(xDotZ, 0f));
}
}