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diff --git a/services/sensorservice/vec.h b/services/sensorservice/vec.h
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+/*
+ * 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_VEC_H
+#define ANDROID_VEC_H
+
+#include <math.h>
+
+#include <stdint.h>
+#include <stddef.h>
+
+#include "traits.h"
+
+// -----------------------------------------------------------------------
+
+#define PURE __attribute__((pure))
+
+namespace android {
+
+// -----------------------------------------------------------------------
+// non-inline helpers
+
+template <typename TYPE, size_t SIZE>
+class vec;
+
+template <typename TYPE, size_t SIZE>
+class vbase;
+
+namespace helpers {
+
+template <typename T> inline T min(T a, T b) { return a<b ? a : b; }
+template <typename T> inline T max(T a, T b) { return a>b ? a : b; }
+
+template < template<typename T, size_t S> class VEC,
+    typename TYPE, size_t SIZE, size_t S>
+vec<TYPE, SIZE>& doAssign(
+        vec<TYPE, SIZE>& lhs, const VEC<TYPE, S>& rhs) {
+    const size_t minSize = min(SIZE, S);
+    const size_t maxSize = max(SIZE, S);
+    for (size_t i=0 ; i<minSize ; i++)
+        lhs[i] = rhs[i];
+    for (size_t i=minSize ; i<maxSize ; i++)
+        lhs[i] = 0;
+    return lhs;
+}
+
+
+template <
+    template<typename T, size_t S> class VLHS,
+    template<typename T, size_t S> class VRHS,
+    typename TYPE,
+    size_t SIZE
+>
+VLHS<TYPE, SIZE> PURE doAdd(
+        const VLHS<TYPE, SIZE>& lhs,
+        const VRHS<TYPE, SIZE>& rhs) {
+    VLHS<TYPE, SIZE> r;
+    for (size_t i=0 ; i<SIZE ; i++)
+        r[i] = lhs[i] + rhs[i];
+    return r;
+}
+
+template <
+    template<typename T, size_t S> class VLHS,
+    template<typename T, size_t S> class VRHS,
+    typename TYPE,
+    size_t SIZE
+>
+VLHS<TYPE, SIZE> PURE doSub(
+        const VLHS<TYPE, SIZE>& lhs,
+        const VRHS<TYPE, SIZE>& rhs) {
+    VLHS<TYPE, SIZE> r;
+    for (size_t i=0 ; i<SIZE ; i++)
+        r[i] = lhs[i] - rhs[i];
+    return r;
+}
+
+template <
+    template<typename T, size_t S> class VEC,
+    typename TYPE,
+    size_t SIZE
+>
+VEC<TYPE, SIZE> PURE doMulScalar(
+        const VEC<TYPE, SIZE>& lhs,
+        typename TypeTraits<TYPE>::ParameterType rhs) {
+    VEC<TYPE, SIZE> r;
+    for (size_t i=0 ; i<SIZE ; i++)
+        r[i] = lhs[i] * rhs;
+    return r;
+}
+
+template <
+    template<typename T, size_t S> class VEC,
+    typename TYPE,
+    size_t SIZE
+>
+VEC<TYPE, SIZE> PURE doScalarMul(
+        typename TypeTraits<TYPE>::ParameterType lhs,
+        const VEC<TYPE, SIZE>& rhs) {
+    VEC<TYPE, SIZE> r;
+    for (size_t i=0 ; i<SIZE ; i++)
+        r[i] = lhs * rhs[i];
+    return r;
+}
+
+}; // namespace helpers
+
+// -----------------------------------------------------------------------
+// Below we define the mathematical operators for vectors.
+// We use template template arguments so we can generically
+// handle the case where the right-hand-size and left-hand-side are
+// different vector types (but with same value_type and size).
+// This is needed for performance when using ".xy{z}" element access
+// on vec<>. Without this, an extra conversion to vec<> would be needed.
+//
+// example:
+//      vec4_t a;
+//      vec3_t b;
+//      vec3_t c = a.xyz + b;
+//
+//  "a.xyz + b" is a mixed-operation between a vbase<> and a vec<>, requiring
+//  a conversion of vbase<> to vec<>. The template gunk below avoids this,
+// by allowing the addition on these different vector types directly
+//
+
+template <
+    template<typename T, size_t S> class VLHS,
+    template<typename T, size_t S> class VRHS,
+    typename TYPE,
+    size_t SIZE
+>
+inline VLHS<TYPE, SIZE> PURE operator + (
+        const VLHS<TYPE, SIZE>& lhs,
+        const VRHS<TYPE, SIZE>& rhs) {
+    return helpers::doAdd(lhs, rhs);
+}
+
+template <
+    template<typename T, size_t S> class VLHS,
+    template<typename T, size_t S> class VRHS,
+    typename TYPE,
+    size_t SIZE
+>
+inline VLHS<TYPE, SIZE> PURE operator - (
+        const VLHS<TYPE, SIZE>& lhs,
+        const VRHS<TYPE, SIZE>& rhs) {
+    return helpers::doSub(lhs, rhs);
+}
+
+template <
+    template<typename T, size_t S> class VEC,
+    typename TYPE,
+    size_t SIZE
+>
+inline VEC<TYPE, SIZE> PURE operator * (
+        const VEC<TYPE, SIZE>& lhs,
+        typename TypeTraits<TYPE>::ParameterType rhs) {
+    return helpers::doMulScalar(lhs, rhs);
+}
+
+template <
+    template<typename T, size_t S> class VEC,
+    typename TYPE,
+    size_t SIZE
+>
+inline VEC<TYPE, SIZE> PURE operator * (
+        typename TypeTraits<TYPE>::ParameterType lhs,
+        const VEC<TYPE, SIZE>& rhs) {
+    return helpers::doScalarMul(lhs, rhs);
+}
+
+
+template <
+    template<typename T, size_t S> class VLHS,
+    template<typename T, size_t S> class VRHS,
+    typename TYPE,
+    size_t SIZE
+>
+TYPE PURE dot_product(
+        const VLHS<TYPE, SIZE>& lhs,
+        const VRHS<TYPE, SIZE>& rhs) {
+    TYPE r(0);
+    for (size_t i=0 ; i<SIZE ; i++)
+        r += lhs[i] * rhs[i];
+    return r;
+}
+
+template <
+    template<typename T, size_t S> class V,
+    typename TYPE,
+    size_t SIZE
+>
+TYPE PURE length(const V<TYPE, SIZE>& v) {
+    return sqrt(dot_product(v, v));
+}
+
+template <
+    template<typename T, size_t S> class V,
+    typename TYPE,
+    size_t SIZE
+>
+TYPE PURE length_squared(const V<TYPE, SIZE>& v) {
+    return dot_product(v, v);
+}
+
+template <
+    template<typename T, size_t S> class V,
+    typename TYPE,
+    size_t SIZE
+>
+V<TYPE, SIZE> PURE normalize(const V<TYPE, SIZE>& v) {
+    return v * (1/length(v));
+}
+
+template <
+    template<typename T, size_t S> class VLHS,
+    template<typename T, size_t S> class VRHS,
+    typename TYPE
+>
+VLHS<TYPE, 3> PURE cross_product(
+        const VLHS<TYPE, 3>& u,
+        const VRHS<TYPE, 3>& v) {
+    VLHS<TYPE, 3> r;
+    r.x = u.y*v.z - u.z*v.y;
+    r.y = u.z*v.x - u.x*v.z;
+    r.z = u.x*v.y - u.y*v.x;
+    return r;
+}
+
+
+template <typename TYPE, size_t SIZE>
+vec<TYPE, SIZE> PURE operator - (const vec<TYPE, SIZE>& lhs) {
+    vec<TYPE, SIZE> r;
+    for (size_t i=0 ; i<SIZE ; i++)
+        r[i] = -lhs[i];
+    return r;
+}
+
+// -----------------------------------------------------------------------
+
+// This our basic vector type, it just implements the data storage
+// and accessors.
+
+template <typename TYPE, size_t SIZE>
+struct vbase {
+    TYPE v[SIZE];
+    inline const TYPE& operator[](size_t i) const { return v[i]; }
+    inline       TYPE& operator[](size_t i)       { return v[i]; }
+};
+template<> struct vbase<float, 2> {
+    union {
+        float v[2];
+        struct { float x, y; };
+        struct { float s, t; };
+    };
+    inline const float& operator[](size_t i) const { return v[i]; }
+    inline       float& operator[](size_t i)       { return v[i]; }
+};
+template<> struct vbase<float, 3> {
+    union {
+        float v[3];
+        struct { float x, y, z; };
+        struct { float s, t, r; };
+        vbase<float, 2> xy;
+        vbase<float, 2> st;
+    };
+    inline const float& operator[](size_t i) const { return v[i]; }
+    inline       float& operator[](size_t i)       { return v[i]; }
+};
+template<> struct vbase<float, 4> {
+    union {
+        float v[4];
+        struct { float x, y, z, w; };
+        struct { float s, t, r, q; };
+        vbase<float, 3> xyz;
+        vbase<float, 3> str;
+        vbase<float, 2> xy;
+        vbase<float, 2> st;
+    };
+    inline const float& operator[](size_t i) const { return v[i]; }
+    inline       float& operator[](size_t i)       { return v[i]; }
+};
+
+// -----------------------------------------------------------------------
+
+template <typename TYPE, size_t SIZE>
+class vec : public vbase<TYPE, SIZE>
+{
+    typedef typename TypeTraits<TYPE>::ParameterType pTYPE;
+    typedef vbase<TYPE, SIZE> base;
+
+public:
+    // STL-like interface.
+    typedef TYPE value_type;
+    typedef TYPE& reference;
+    typedef TYPE const& const_reference;
+    typedef size_t size_type;
+
+    typedef TYPE* iterator;
+    typedef TYPE const* const_iterator;
+    iterator begin() { return base::v; }
+    iterator end() { return base::v + SIZE; }
+    const_iterator begin() const { return base::v; }
+    const_iterator end() const { return base::v + SIZE; }
+    size_type size() const { return SIZE; }
+
+    // -----------------------------------------------------------------------
+    // default constructors
+
+    vec() { }
+    vec(const vec& rhs)  : base(rhs) { }
+    vec(const base& rhs) : base(rhs) { }
+
+    // -----------------------------------------------------------------------
+    // conversion constructors
+
+    vec(pTYPE rhs) {
+        for (size_t i=0 ; i<SIZE ; i++)
+            base::operator[](i) = rhs;
+    }
+
+    template < template<typename T, size_t S> class VEC, size_t S>
+    explicit vec(const VEC<TYPE, S>& rhs) {
+        helpers::doAssign(*this, rhs);
+    }
+
+    explicit vec(TYPE const* array) {
+        for (size_t i=0 ; i<SIZE ; i++)
+            base::operator[](i) = array[i];
+    }
+
+    // -----------------------------------------------------------------------
+    // Assignment
+
+    vec& operator = (const vec& rhs) {
+        base::operator=(rhs);
+        return *this;
+    }
+
+    vec& operator = (const base& rhs) {
+        base::operator=(rhs);
+        return *this;
+    }
+
+    vec& operator = (pTYPE rhs) {
+        for (size_t i=0 ; i<SIZE ; i++)
+            base::operator[](i) = rhs;
+        return *this;
+    }
+
+    template < template<typename T, size_t S> class VEC, size_t S>
+    vec& operator = (const VEC<TYPE, S>& rhs) {
+        return helpers::doAssign(*this, rhs);
+    }
+
+    // -----------------------------------------------------------------------
+    // operation-assignment
+
+    vec& operator += (const vec& rhs);
+    vec& operator -= (const vec& rhs);
+    vec& operator *= (pTYPE rhs);
+
+    // -----------------------------------------------------------------------
+    // non-member function declaration and definition
+    // NOTE: we declare the non-member function as friend inside the class
+    // so that they are known to the compiler when the class is instantiated.
+    // This helps the compiler doing template argument deduction when the
+    // passed types are not identical. Essentially this helps with
+    // type conversion so that you can multiply a vec<float> by an scalar int
+    // (for instance).
+
+    friend inline vec PURE operator + (const vec& lhs, const vec& rhs) {
+        return helpers::doAdd(lhs, rhs);
+    }
+    friend inline vec PURE operator - (const vec& lhs, const vec& rhs) {
+        return helpers::doSub(lhs, rhs);
+    }
+    friend inline vec PURE operator * (const vec& lhs, pTYPE v) {
+        return helpers::doMulScalar(lhs, v);
+    }
+    friend inline vec PURE operator * (pTYPE v, const vec& rhs) {
+        return helpers::doScalarMul(v, rhs);
+    }
+    friend inline TYPE PURE dot_product(const vec& lhs, const vec& rhs) {
+        return android::dot_product(lhs, rhs);
+    }
+};
+
+// -----------------------------------------------------------------------
+
+template <typename TYPE, size_t SIZE>
+vec<TYPE, SIZE>& vec<TYPE, SIZE>::operator += (const vec<TYPE, SIZE>& rhs) {
+    vec<TYPE, SIZE>& lhs(*this);
+    for (size_t i=0 ; i<SIZE ; i++)
+        lhs[i] += rhs[i];
+    return lhs;
+}
+
+template <typename TYPE, size_t SIZE>
+vec<TYPE, SIZE>& vec<TYPE, SIZE>::operator -= (const vec<TYPE, SIZE>& rhs) {
+    vec<TYPE, SIZE>& lhs(*this);
+    for (size_t i=0 ; i<SIZE ; i++)
+        lhs[i] -= rhs[i];
+    return lhs;
+}
+
+template <typename TYPE, size_t SIZE>
+vec<TYPE, SIZE>& vec<TYPE, SIZE>::operator *= (vec<TYPE, SIZE>::pTYPE rhs) {
+    vec<TYPE, SIZE>& lhs(*this);
+    for (size_t i=0 ; i<SIZE ; i++)
+        lhs[i] *= rhs;
+    return lhs;
+}
+
+// -----------------------------------------------------------------------
+
+typedef vec<float, 2> vec2_t;
+typedef vec<float, 3> vec3_t;
+typedef vec<float, 4> vec4_t;
+
+// -----------------------------------------------------------------------
+
+}; // namespace android
+
+#endif /* ANDROID_VEC_H */