pose_service cleanup
* Some code changed, but the helper functions remain
Bug: None
Test: No test required - deleted code
Change-Id: I53181dfe847aa37dca302a3a318d3e9e18b09158
diff --git a/services/vr/sensord/pose_service.cpp b/services/vr/sensord/pose_service.cpp
index 40eb21d..32a2160 100644
--- a/services/vr/sensord/pose_service.cpp
+++ b/services/vr/sensord/pose_service.cpp
@@ -25,8 +25,6 @@
#include <private/dvr/sensor_constants.h>
#include <utils/Trace.h>
-#define arraysize(x) (static_cast<ssize_t>(std::extent<decltype(x)>::value))
-
using android::pdx::LocalChannelHandle;
using android::pdx::default_transport::Endpoint;
using android::pdx::Status;
@@ -35,11 +33,8 @@
namespace dvr {
using Vector3d = vec3d;
-using Vector3f = vec3f;
using Rotationd = quatd;
-using Rotationf = quatf;
using AngleAxisd = Eigen::AngleAxis<double>;
-using AngleAxisf = Eigen::AngleAxis<float>;
namespace {
// Wait a few seconds before checking if we need to disable sensors.
@@ -69,7 +64,6 @@
static constexpr int kDatasetIdLength = 36;
static constexpr char kDatasetIdChars[] = "0123456789abcdef-";
-static constexpr char kDatasetLocation[] = "/data/sdcard/datasets/";
// These are the flags used by BufferProducer::CreatePersistentUncachedBlob,
// plus PRIVATE_ADSP_HEAP to allow access from the DSP.
@@ -77,14 +71,6 @@
GRALLOC_USAGE_SW_READ_RARELY | GRALLOC_USAGE_SW_WRITE_RARELY |
GRALLOC_USAGE_PRIVATE_UNCACHED | GRALLOC_USAGE_PRIVATE_ADSP_HEAP;
-// Extract yaw angle from a given quaternion rotation.
-// Y-axis is considered to be vertical. Result is in rad.
-template <typename T>
-T ExtractYaw(Eigen::Quaternion<T> rotation) {
- const Eigen::Vector3<T> yaw_axis = rotation * vec3::UnitZ();
- return std::atan2(yaw_axis.z(), yaw_axis.x());
-}
-
std::string GetPoseModeString(DvrPoseMode mode) {
switch (mode) {
case DVR_POSE_MODE_6DOF:
@@ -110,19 +96,6 @@
}
}
-inline std::string GetVector3dString(const Vector3d& vector) {
- std::ostringstream stream;
- stream << "[" << vector[0] << "," << vector[1] << "," << vector[2] << "]";
- return stream.str();
-}
-
-inline std::string GetRotationdString(const Rotationd& rotation) {
- std::ostringstream stream;
- stream << "[" << rotation.w() << ", " << GetVector3dString(rotation.vec())
- << "]";
- return stream.str();
-}
-
} // namespace
PoseService::PoseService(SensorThread* sensor_thread)