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The changeMapDirection method handles updating the view of the map, orienting it in the direction of the rotation vector, and scrolling forward according to the speed value. In order to interpret the raw data given by the rotation vector sensor, this method calls the getOrientation method.  getOrientation uses built in methods within the SensorManager class to interpret the rotation vector values into a value for the rotation of the device around the x axis. It uses SensorManager.getRotationMatrixFromVector 'SensorManager.getRotationMatrixFromVector'  to get the rotation matrix from the 3 rotation vector values. It then uses SensorManager.getOrientation 'SensorManager.getOrientation'  to calculate an array of rotations around each axis, from the rotation matrix. The method then returns the value of the x axis orientation + 90, since the orientation values start from a west heading, and the Google Maps API starts from north.