9-axis sensor fusion with Kalman filter
Add support for 9-axis gravity and linear-acceleration sensors
virtual orientation sensor using 9-axis fusion
Change-Id: I6717539373fce781c10e97b6fa59f68a831a592f
diff --git a/services/sensorservice/traits.h b/services/sensorservice/traits.h
new file mode 100644
index 0000000..da4c599
--- /dev/null
+++ b/services/sensorservice/traits.h
@@ -0,0 +1,118 @@
+/*
+ * Copyright (C) 2011 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.
+ */
+
+#ifndef ANDROID_TRAITS_H
+#define ANDROID_TRAITS_H
+
+// -----------------------------------------------------------------------
+// Typelists
+
+namespace android {
+
+// end-of-list marker
+class NullType {};
+
+// type-list node
+template <typename T, typename U>
+struct TypeList {
+ typedef T Head;
+ typedef U Tail;
+};
+
+// helpers to build typelists
+#define TYPELIST_1(T1) TypeList<T1, NullType>
+#define TYPELIST_2(T1, T2) TypeList<T1, TYPELIST_1(T2)>
+#define TYPELIST_3(T1, T2, T3) TypeList<T1, TYPELIST_2(T2, T3)>
+#define TYPELIST_4(T1, T2, T3, T4) TypeList<T1, TYPELIST_3(T2, T3, T4)>
+
+// typelists algorithms
+namespace TL {
+template <typename TList, typename T> struct IndexOf;
+
+template <typename T>
+struct IndexOf<NullType, T> {
+ enum { value = -1 };
+};
+
+template <typename T, typename Tail>
+struct IndexOf<TypeList<T, Tail>, T> {
+ enum { value = 0 };
+};
+
+template <typename Head, typename Tail, typename T>
+struct IndexOf<TypeList<Head, Tail>, T> {
+private:
+ enum { temp = IndexOf<Tail, T>::value };
+public:
+ enum { value = temp == -1 ? -1 : 1 + temp };
+};
+
+}; // namespace TL
+
+// type selection based on a boolean
+template <bool flag, typename T, typename U>
+struct Select {
+ typedef T Result;
+};
+template <typename T, typename U>
+struct Select<false, T, U> {
+ typedef U Result;
+};
+
+// -----------------------------------------------------------------------
+// Type traits
+
+template <typename T>
+class TypeTraits {
+ typedef TYPELIST_4(
+ unsigned char, unsigned short,
+ unsigned int, unsigned long int) UnsignedInts;
+
+ typedef TYPELIST_4(
+ signed char, signed short,
+ signed int, signed long int) SignedInts;
+
+ typedef TYPELIST_1(
+ bool) OtherInts;
+
+ typedef TYPELIST_3(
+ float, double, long double) Floats;
+
+ template<typename U> struct PointerTraits {
+ enum { result = false };
+ typedef NullType PointeeType;
+ };
+ template<typename U> struct PointerTraits<U*> {
+ enum { result = true };
+ typedef U PointeeType;
+ };
+
+public:
+ enum { isStdUnsignedInt = TL::IndexOf<UnsignedInts, T>::value >= 0 };
+ enum { isStdSignedInt = TL::IndexOf<SignedInts, T>::value >= 0 };
+ enum { isStdIntegral = TL::IndexOf<OtherInts, T>::value >= 0 || isStdUnsignedInt || isStdSignedInt };
+ enum { isStdFloat = TL::IndexOf<Floats, T>::value >= 0 };
+ enum { isPointer = PointerTraits<T>::result };
+ enum { isStdArith = isStdIntegral || isStdFloat };
+
+ // best parameter type for given type
+ typedef typename Select<isStdArith || isPointer, T, const T&>::Result ParameterType;
+};
+
+// -----------------------------------------------------------------------
+}; // namespace android
+
+#endif /* ANDROID_TRAITS_H */