1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
|
/****************************************************************************
**
** Copyright (C) 2019 BogDan Vatra <bogdan@kde.org>
** Contact: https://www.qt.io/licensing/
**
** This file is part of the QtSensors module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:COMM$
**
** Commercial License Usage
** Licensees holding valid commercial Qt licenses may use this file in
** accordance with the commercial license agreement provided with the
** Software or, alternatively, in accordance with the terms contained in
** a written agreement between you and The Qt Company. For licensing terms
** and conditions see https://www.qt.io/terms-conditions. For further
** information use the contact form at https://www.qt.io/contact-us.
**
** $QT_END_LICENSE$
**
**
**
**
**
**
**
**
**
**
**
**
**
**
**
**
**
**
**
****************************************************************************/
#include "androidrotation.h"
#include <QtCore/qmath.h>
AndroidRotation::AndroidRotation(int type, QSensor *sensor, QObject *parent)
: SensorEventQueue<QRotationReading>(type, sensor, parent)
{}
void AndroidRotation::dataReceived(const ASensorEvent &event)
{
// From android documentation, the rotation sensor values are:
// values[0]: x*sin(θ/2)
// values[1]: y*sin(θ/2)
// values[2]: z*sin(θ/2)
// values[3]: cos(θ/2)
// The mathematics below is adapted from
// https://android.googlesource.com/platform/frameworks/base/+/master/core/java/android/hardware/SensorManager.java#1644
// and
// https://android.googlesource.com/platform/frameworks/base/+/master/core/java/android/hardware/SensorManager.java#1469
// (getRotationMatrixFromVector() followed by getOrientation())
qreal angles[3];
qreal q1 = qreal(event.data[0]);
qreal q2 = qreal(event.data[1]);
qreal q3 = qreal(event.data[2]);
qreal q0 = qreal(event.data[3]);
qreal sq_q1 = 2 * q1 * q1;
qreal sq_q2 = 2 * q2 * q2;
qreal sq_q3 = 2 * q3 * q3;
qreal q1_q2 = 2 * q1 * q2;
qreal q3_q0 = 2 * q3 * q0;
qreal q1_q3 = 2 * q1 * q3;
qreal q2_q0 = 2 * q2 * q0;
qreal q2_q3 = 2 * q2 * q3;
qreal q1_q0 = 2 * q1 * q0;
angles[0] = std::atan2((q1_q2 - q3_q0), (1 - sq_q1 - sq_q3));
angles[1] = std::asin(-(q2_q3 + q1_q0));
angles[2] = std::atan2(-(q1_q3 - q2_q0), (1 - sq_q1 - sq_q2));
qreal rz = -qRadiansToDegrees(angles[0]);
qreal rx = -qRadiansToDegrees(angles[1]);
qreal ry = qRadiansToDegrees(angles[2]);
if (sensor()->skipDuplicates() && qFuzzyCompare(m_reader.x(), rx) &&
qFuzzyCompare(m_reader.y(), ry) &&
qFuzzyCompare(m_reader.z(), rz)) {
return;
}
m_reader.setTimestamp(uint64_t(event.timestamp / 1000));
m_reader.setFromEuler(rx, ry, rz);
newReadingAvailable();
}
|
