Java Sensor.TYPE_ROTATION_VECTOR属性代码示例

@Override
public void onSensorChanged(SensorEvent event) {
    switch (event.sensor.getType()) {
        case Sensor.TYPE_ROTATION_VECTOR:
            System.arraycopy(event.values, 0, mRotation, 0, 3);
            calculateOrientation();
            break;
        case Sensor.TYPE_ACCELEROMETER:
            mAccel = LowPassFilter.lowPass(event.values.clone(), mAccel);
            calculateOrientation();
            break;
        case Sensor.TYPE_MAGNETIC_FIELD:
            mMagnet = LowPassFilter.lowPass(event.values.clone(), mMagnet);
            break;
        case Sensor.TYPE_STEP_DETECTOR:
            mStep = event.values[0] == 1.0;
            announceChange(STEP_UPDATE);
            break;
    }
}
 

@Override
public void onSensorChanged(SensorEvent event) {
  if (internalCompassListener == null) {
    return;
  }
  // check when the last time the compass was updated, return if too soon.
  long currentTime = SystemClock.elapsedRealtime();
  if (currentTime < compassUpdateNextTimestamp) {
    return;
  }
  if (lastAccuracy == SensorManager.SENSOR_STATUS_UNRELIABLE) {
    Timber.d("Compass sensor is unreliable, device calibration is needed.");
    return;
  }
  if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR) {
    updateOrientation(event.values);

    // Update the compassUpdateNextTimestamp
    compassUpdateNextTimestamp = currentTime + LocationLayerConstants.COMPASS_UPDATE_RATE_MS;
  } else if (event.sensor.getType() == Sensor.TYPE_ORIENTATION) {
    internalCompassListener.onCompassChanged((event.values[0] + 360) % 360);
    for (CompassListener compassListener : compassListeners) {
      compassListener.onCompassChanged((event.values[0] + 360) % 360);
    }
  }
}
 

@Override
    public void onSensorChanged(SensorEvent sensorEvent) {
        if(sensorEvent.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR) {
            synchronized (this.mutex) {
                float[] quaternion = new float[4];
                SensorManager.getQuaternionFromVector(quaternion, sensorEvent.values);
                this.imu.getOrientation().setW(quaternion[0]);
                this.imu.getOrientation().setX(quaternion[1]);
                this.imu.getOrientation().setY(quaternion[2]);
                this.imu.getOrientation().setZ(quaternion[3]);
                Collection<Double> tmpCov = Arrays.asList(0.001d, 0d, 0d, 0d, 0.001d, 0d, 0d, 0d, 0.001d);// TODO Make Parameter
                this.imu.setOrientationCovariance(tmpCov);
                this.quatTime = sensorEvent.timestamp;

//                logger.debug("Sensor rotate value : " + this.imu);
//                System.out.println("Sensor rotate value : " + this.imu);
            }
        }
    }
 

@Override
public void onSensorChanged(SensorEvent event) {
    // we received a sensor event. it is a good practice to check
    // that we received the proper event
    if (event.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR) {
        // convert the rotation-vector to a 4x4 matrix. the matrix
        // is interpreted by Open GL as the inverse of the
        // rotation-vector, which is what we want.
        SensorManager.getRotationMatrixFromVector(currentOrientationRotationMatrix.matrix, event.values);

        // Get Quaternion
        // Calculate angle. Starting with API_18, Android will provide this value as event.values[3], but if not, we have to calculate it manually.
        SensorManager.getQuaternionFromVector(temporaryQuaternion, event.values);
        currentOrientationQuaternion.setXYZW(temporaryQuaternion[1], temporaryQuaternion[2], temporaryQuaternion[3], -temporaryQuaternion[0]);
    }
}
 

private boolean isXYZ(Sensor s) {
    switch (s.getType()) {
        case Sensor.TYPE_ACCELEROMETER:
        case Sensor.TYPE_GRAVITY:
        case Sensor.TYPE_GYROSCOPE:
        case Sensor.TYPE_LINEAR_ACCELERATION:
        case Sensor.TYPE_MAGNETIC_FIELD:
        case Sensor.TYPE_ROTATION_VECTOR:
            return true;
    }

    if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.JELLY_BEAN_MR2) {
        if (s.getType() == Sensor.TYPE_GAME_ROTATION_VECTOR
                || s.getType() == Sensor.TYPE_GYROSCOPE_UNCALIBRATED
                || s.getType() == Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED) {
            return true;
        }
    }

    if (Build.VERSION.SDK_INT >= Build.VERSION_CODES.KITKAT) {
        if (s.getType() == Sensor.TYPE_GEOMAGNETIC_ROTATION_VECTOR) {
            return true;
        }
    }

    return false;
}
 

@Override
public void onSensorChanged(SensorEvent sensorEvent) {
    if (this.accelAdapter != null && sensorEvent.sensor.getType() == Sensor.TYPE_ACCELEROMETER) {
        this.accelAdapter.onSensorChanged(sensorEvent);
    }

    if (this.gyroAdapter != null && sensorEvent.sensor.getType() == Sensor.TYPE_GYROSCOPE) {
        this.gyroAdapter.onSensorChanged(sensorEvent);
    }

    if (this.rotaAdapter != null && sensorEvent.sensor.getType() == Sensor.TYPE_ROTATION_VECTOR) {
        this.rotaAdapter.onSensorChanged(sensorEvent);
    }
}
 

@SuppressWarnings("deprecation")
private boolean isRestricted(XParam param, int type) throws Throwable {
	if (type == Sensor.TYPE_ALL)
		return false;
	else if (type == Sensor.TYPE_ACCELEROMETER || type == Sensor.TYPE_LINEAR_ACCELERATION) {
		if (isRestricted(param, "acceleration"))
			return true;
	} else if (type == Sensor.TYPE_GRAVITY) {
		if (isRestricted(param, "gravity"))
			return true;
	} else if (type == Sensor.TYPE_RELATIVE_HUMIDITY) {
		if (isRestricted(param, "humidity"))
			return true;
	} else if (type == Sensor.TYPE_LIGHT) {
		if (isRestricted(param, "light"))
			return true;
	} else if (type == Sensor.TYPE_MAGNETIC_FIELD || type == Sensor.TYPE_MAGNETIC_FIELD_UNCALIBRATED) {
		if (isRestricted(param, "magnetic"))
			return true;
	} else if (type == Sensor.TYPE_SIGNIFICANT_MOTION) {
		if (isRestricted(param, "motion"))
			return true;
	} else if (type == Sensor.TYPE_ORIENTATION || type == Sensor.TYPE_GYROSCOPE
			|| type == Sensor.TYPE_GYROSCOPE_UNCALIBRATED) {
		if (isRestricted(param, "orientation"))
			return true;
	} else if (type == Sensor.TYPE_PRESSURE) {
		if (isRestricted(param, "pressure"))
			return true;
	} else if (type == Sensor.TYPE_PROXIMITY) {
		if (isRestricted(param, "proximity"))
			return true;
	} else if (type == Sensor.TYPE_GAME_ROTATION_VECTOR || type == Sensor.TYPE_GEOMAGNETIC_ROTATION_VECTOR
			|| type == Sensor.TYPE_ROTATION_VECTOR) {
		if (isRestricted(param, "rotation"))
			return true;
	} else if (type == Sensor.TYPE_TEMPERATURE || type == Sensor.TYPE_AMBIENT_TEMPERATURE) {
		if (isRestricted(param, "temperature"))
			return true;
	} else if (type == Sensor.TYPE_STEP_COUNTER || type == Sensor.TYPE_STEP_DETECTOR) {
		if (isRestricted(param, "step"))
			return true;
	} else if (type == Sensor.TYPE_HEART_RATE) {
		if (isRestricted(param, "heartrate"))
			return true;
	} else if (type == 22) {
		// 22 = TYPE_TILT_DETECTOR
		// Do nothing
	} else if (type == 23 || type == 24 || type == 25) {
		// 23 = TYPE_WAKE_GESTURE
		// 24 = TYPE_GLANCE_GESTURE
		// 25 = TYPE_PICK_UP_GESTURE
		// 23/24 This sensor is expected to only be used by the system ui
		// 25 Expected to be used internally for always on display
	} else
		Util.log(this, Log.WARN, "Unknown sensor type=" + type);
	return false;
}
 

RotationVectorUpdatesProvider(int sensorDelay) {
    super(Sensor.TYPE_ROTATION_VECTOR, sensorDelay);
}