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POCompute rotation matrix using the magnetic field
 

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    <p>In get rotation matrix value it contains <code>public static boolean getRotationMatrix (float[] R, float[] I, float[] gravity, float[] geomagnetic)</code> Here how can i calculate the <code>float[] gravity</code>? I found a sample of code where it calculate the <code>orientation</code> using both <code>Accelerometer</code> and <code>Magnetic field</code></p> <pre><code>boolean success = SensorManager.getRotationMatrix( matrixR, matrixI, valuesAccelerometer, valuesMagneticField); if(success){ SensorManager.getOrientation(matrixR, matrixValues); double azimuth = Math.toDegrees(matrixValues[0]); double pitch = Math.toDegrees(matrixValues[1]); double roll = Math.toDegrees(matrixValues[2]); readingAzimuth.setText("Azimuth: " + String.valueOf(azimuth)); readingPitch.setText("Pitch: " + String.valueOf(pitch)); readingRoll.setText("Roll: "+String.valueOf(roll)); } </code></pre> <p>My questions are :</p> <ul> <li>Is orientation value is the rotation matrix value?</li> <li>If no then how can i implement this code to get the rotation matrix value using magnetic? field?</li> </ul> <p>To get the rotation matrix i use this code</p> <pre><code> public void onSensorChanged(SensorEvent sensorEvent) { if (timestamp != 0) { final double dT = (sensorEvent.timestamp - timestamp) * NS2S; double magneticX = sensorEvent.values[0]; double magneticY = sensorEvent.values[1]; double magneticZ = sensorEvent.values[2]; double omegaMagnitude =Math.sqrt(magneticX*magneticX + magneticY*magneticY + magneticZ*magneticZ); if (omegaMagnitude &gt; EPSILON) { magneticX /= omegaMagnitude; magneticY /= omegaMagnitude; magneticZ /= omegaMagnitude; } double thetaOverTwo = omegaMagnitude * dT / 2.0f; double sinThetaOverTwo =Math.sin(thetaOverTwo); double cosThetaOverTwo = Math.cos(thetaOverTwo); deltaRotationVector[0] = (double) (sinThetaOverTwo * magneticX); deltaRotationVector[1] = (double) (sinThetaOverTwo * magneticY); deltaRotationVector[2] = (double) (sinThetaOverTwo * magneticZ); deltaRotationVector[3] = cosThetaOverTwo; } double[] deltaRotationMatrix = new double[9]; SensorManager.getRotationMatrixFromVector(deltaRotationMatrix, deltaRotationVector); } </code></pre> <p>But the problem is this <code>getRotationMatrixFromVector</code> is says undefine for sensor.Any idea?</p>
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