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// Copyright (C) 2016 The Qt Company Ltd.
// SPDX-License-Identifier: LicenseRef-Qt-Commercial OR LGPL-3.0-only OR GPL-2.0-only OR GPL-3.0-only
// Qt-Security score:significant reason:default
#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.
\section1 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
{Device rotated relative to the x, y, and z axes, with the rotated
y2 and y1 axes and the rotation angle marked}
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
{Animation showing the device rotated around the z, x, and then y
axes in sequence}
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
{Device shown in side profile tilting through x angles of 30, 15,
0, -15, and -30 degrees}
Here is an example of how the y value will change with device movement.
\image sensors-rotation3.jpg
{Device shown end-on tilting through y angles of -30, -15, 0, 15,
and 30 degrees}
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::sensorType("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::sensorType, *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);
}
}
QT_END_NAMESPACE
#include "moc_qrotationsensor.cpp"