public static float[] getOrientation (float[] R, float[] values)

public static boolean getRotationMatrix (float[] R, float[] I, float[] gravity, float[] geomagnetic)

sensorManager.registerListener(this, acc_sensor, SensorManager.SENSOR_DELAY_GAME); sensorManager.registerListener(this, mag_sensor,SensorManager.SENSOR_DELAY_GAME); 

import android.app.Activity; import android.hardware.Sensor; import android.hardware.SensorEvent; import android.hardware.SensorEventListener; import android.hardware.SensorManager; import android.os.Bundle; import android.view.Menu; import android.widget.TextView;  public class MainActivity extends Activity implements SensorEventListener{    private SensorManager sensorManager;   private Sensor acc_sensor;   private Sensor mag_sensor;   //加速度傳感器數據   float accValues[] = new float[3];   //地磁傳感器數據   float magValues[] = new float[3];   //旋轉矩陣，用來保存磁場和加速度的數據   float r[] = new float[9];   //模擬方向傳感器的數據（原始數據為弧度）   float values[] = new float[3];   TextView showTV = null;     @Override   protected void onCreate(Bundle savedInstanceState) {     super.onCreate(savedInstanceState);     setContentView(R.layout.activity_main);     show_change=(TextView) findViewById(R.id.show_change);     sensorManager = (SensorManager) getSystemService(SENSOR_SERVICE);     acc_sensor = sensorManager.getDefaultSensor(Sensor.TYPE_ACCELEROMETER);     mag_sensor = sensorManager.getDefaultSensor(Sensor.TYPE_MAGNETIC_FIELD);     // 注冊監聽：     sensorManager.registerListener(this, acc_sensor, SensorManager.SENSOR_DELAY_GAME);     sensorManager.registerListener(this, mag_sensor,SensorManager.SENSOR_DELAY_GAME);   }    @Override   public boolean onCreateOptionsMenu(Menu menu) {     // Inflate the menu; this adds items to the action bar if it is present.     getMenuInflater().inflate(R.menu.main, menu);     return true;   }     // 回調方法   @Override   public void onSensorChanged(SensorEvent event) {     if(event.sensor.getType() == Sensor.TYPE_ACCELEROMETER){       accValues = event.values.clone();    }     else if(event.sensor.getType() == Sensor.TYPE_MAGNETIC_FIELD){       magValues = event.values.clone();    }        /**     * r：要填充的旋轉數組      * I: 將磁場數據轉換進實際的重力坐標中,一般默認情況下可以設置為null      * gravity: 加速度傳感器數據      * geomagnetic：地磁傳感器數據      */     SensorManager.getRotationMatrix(r, null, accValues, magValues);         /**      * R：旋轉數組      * values：模擬方向傳感器的數據      */     SensorManager.getOrientation(r, values);          //將弧度轉化為角度后輸出     StringBuffer buff = new StringBuffer();     for(float value : values){       value=(float) Math.toDegrees(value);       buff.append(value + " ");     }         showTV.setText(buff.toString());     }      @Override   public void onAccuracyChanged(Sensor sensor, int accuracy) {   } }