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
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
|
/****************************************************************************
**
** Copyright (C) 2014 Digia Plc and/or its subsidiary(-ies).
** Contact: http://www.qt-project.org/legal
**
** This file is part of the QtSensors module of the Qt Toolkit.
**
** $QT_BEGIN_LICENSE:LGPL21$
** 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 Digia. For licensing terms and
** conditions see http://qt.digia.com/licensing. For further information
** use the contact form at http://qt.digia.com/contact-us.
**
** GNU Lesser General Public License Usage
** Alternatively, this file may be used under the terms of the GNU Lesser
** General Public License version 2.1 or version 3 as published by the Free
** Software Foundation and appearing in the file LICENSE.LGPLv21 and
** LICENSE.LGPLv3 included in the packaging of this file. Please review the
** following information to ensure the GNU Lesser General Public License
** requirements will be met: https://www.gnu.org/licenses/lgpl.html and
** http://www.gnu.org/licenses/old-licenses/lgpl-2.1.html.
**
** In addition, as a special exception, Digia gives you certain additional
** rights. These rights are described in the Digia Qt LGPL Exception
** version 1.1, included in the file LGPL_EXCEPTION.txt in this package.
**
** $QT_END_LICENSE$
**
****************************************************************************/
#include "qrotationsensor.h"
#include "qrotationsensor_p.h"
QT_BEGIN_NAMESPACE
IMPLEMENT_READING(QRotationReading)
/*!
\class QRotationReading
\ingroup sensors_reading
\inmodule QtSensors
\since 5.1
\brief The QRotationReading class represents one reading from the
rotation sensor.
\section2 QRotationReading Units
The rotation reading contains 3 angles, measured in degrees that define
the orientation of the device in three-dimensional space. These angles
are similar to yaw, pitch and roll but are defined using only right hand
rotation with axes as defined by the right hand cartesian coordinate system.
\image sensors-rotation.jpg
The three angles are applied to the device in the following order.
\list
\li Right-handed rotation z (-180, 180]. Starting from the y-axis and
incrementing in the counter-clockwise direction.
\li Right-handed rotation x [-90, 90]. Starting from the new
(once-rotated) y-axis and incrementing towards the z-axis.
\li Right-handed rotation y (-180, 180]. Starting from the new
(twice-rotated) z-axis and incrementing towards the x-axis.
\endlist
Here is a visualization showing the order in which angles are applied.
\image sensors-rotation-anim.gif
The 0 point for the z angle is defined as a fixed, external entity and
is device-specific. While magnetic North is typically used as this
reference point it may not be. Do not attempt to compare values
for the z angle between devices or even on the same device if it has
moved a significant distance.
If the device cannot detect a fixed, external entity the z angle will
always be 0 and the QRotationSensor::hasZ property will be set to false.
The 0 point for the x and y angles are defined as when the x and y axes
of the device are oriented towards the horizon. Here is an example of
how the x value will change with device movement.
\image sensors-rotation2.jpg
Here is an example of how the y value will change with device movement.
\image sensors-rotation3.jpg
Note that when x is 90 or -90, values for z and y achieve rotation around
the same axis (due to the order of operations). In this case the y
rotation will be 0.
*/
/*!
\property QRotationReading::x
\brief the rotation around the x axis.
Measured as degrees.
\sa {QRotationReading Units}
*/
qreal QRotationReading::x() const
{
return d->x;
}
/*!
\property QRotationReading::y
\brief the rotation around the y axis.
Measured as degrees.
\sa {QRotationReading Units}
*/
qreal QRotationReading::y() const
{
return d->y;
}
/*!
\property QRotationReading::z
\brief the rotation around the z axis.
Measured as degrees.
\sa {QRotationReading Units}
*/
qreal QRotationReading::z() const
{
return d->z;
}
/*!
\brief Sets the rotation from three euler angles.
This is to be called from the backend.
The angles are measured in degrees. The order of the rotations matters, as first the \a z rotation
is applied, then the \a x rotation and finally the \a y rotation.
\since 5.0
*/
void QRotationReading::setFromEuler(qreal x, qreal y, qreal z)
{
d->x = x;
d->y = y;
d->z = z;
}
// =====================================================================
/*!
\class QRotationFilter
\ingroup sensors_filter
\inmodule QtSensors
\since 5.1
\brief The QRotationFilter class is a convenience wrapper around QSensorFilter.
The only difference is that the filter() method features a pointer to QRotationReading
instead of QSensorReading.
*/
/*!
\fn QRotationFilter::filter(QRotationReading *reading)
Called when \a reading changes. Returns false to prevent the reading from propagating.
\sa QSensorFilter::filter()
*/
bool QRotationFilter::filter(QSensorReading *reading)
{
return filter(static_cast<QRotationReading*>(reading));
}
char const * const QRotationSensor::type("QRotationSensor");
/*!
\class QRotationSensor
\ingroup sensors_type
\inmodule QtSensors
\since 5.1
\brief The QRotationSensor class is a convenience wrapper around QSensor.
The only behavioural difference is that this class sets the type properly.
This class also features a reading() function that returns a QRotationReading instead of a QSensorReading.
For details about how the sensor works, see \l QRotationReading.
\sa QRotationReading
*/
/*!
Construct the sensor as a child of \a parent.
*/
QRotationSensor::QRotationSensor(QObject *parent)
: QSensor(QRotationSensor::type, *new QRotationSensorPrivate, parent)
{
}
/*!
Destroy the sensor. Stops the sensor if it has not already been stopped.
*/
QRotationSensor::~QRotationSensor()
{
}
/*!
\fn QRotationSensor::reading() const
Returns the reading class for this sensor.
\sa QSensor::reading()
*/
QRotationReading *QRotationSensor::reading() const
{
return static_cast<QRotationReading*>(QSensor::reading());
}
/*!
\property QRotationSensor::hasZ
\brief a value indicating if the z angle is available.
Returns true if z is available.
Returns false if z is not available.
*/
bool QRotationSensor::hasZ() const
{
Q_D(const QRotationSensor);
return (d->hasZ);
}
/*!
\since 5.1
Sets whether the z angle is available to \a hasZ. This is to be called from the
backend. By default the hasZ property is true, so a backend only has to
call this if its rotation sensor can not report z angles.
*/
void QRotationSensor::setHasZ(bool hasZ)
{
Q_D(QRotationSensor);
if (d->hasZ != hasZ) {
d->hasZ = hasZ;
emit hasZChanged(hasZ);
}
}
#include "moc_qrotationsensor.cpp"
QT_END_NAMESPACE
|
