diff --git a/index.bs b/index.bs index 9835941..9317c4b 100644 --- a/index.bs +++ b/index.bs @@ -69,6 +69,7 @@ urlPrefix: https://www.w3.org/TR/orientation-event; spec: DEVICEORIENTATION urlPrefix: https://w3c.github.io/motion-sensors; spec: MOTIONSENSORS type: dfn text: Absolute Orientation Sensor; url: absolute-orientation + text: Relative Orientation Sensor; url: relative-orientation 
@@ -199,6 +200,12 @@ describes mapping between concrete orientation sensors and permission tokens def
       "accelerometer", "gyroscope", "magnetometer"
     
   
+  
+    
+      {{RelativeOrientationSensor}}
+      "accelerometer", "gyroscope"
+    
+  
 
 
 A [=latest reading=] per [=sensor=] of orientation type includes an [=map/entry=]
@@ -213,20 +220,38 @@ is equal to cos(θ/2) goes after. This order is used for better compatibility wi
 however other libraries could use a different order when exposing quaternion as an array, e.g. [q0, q1,
 q2, q3].
 
-The {{AbsoluteOrientationSensor}} class is a subclass of {{OrientationSensor}} which represents the [=Absolute
-Orientation Sensor=].
-
-The absolute orientation sensor is a [=high-level=] sensor which is created through [=sensor-fusion=]
-of the [=low-level=] motion sensors:
+The concrete {{OrientationSensor}} subclasses that are created through [=sensor-fusion=] of the [=low-level=] motion sensors are
+presented in the table below:
 
- - accelerometer that measures [=acceleration=],
- - gyroscope that measures [=angular velocity=], and
- - magnetometer that measures [=magnetic field=].
+
+  
+    
+    
+  
+  
+    
+      
+      
+    
+  
+  
+    
+      
+      
+    
+  
+
OrientationSensor sublass[=low-level|Low-level=] motion sensors
{{AbsoluteOrientationSensor}}{{Accelerometer}}, {{Gyroscope}}, {{Magnetometer}}
{{RelativeOrientationSensor}}{{Accelerometer}}, {{Gyroscope}}

 
-Note: Corresponding [=low-level=] sensors are defined in [[ACCELEROMETER]], [[GYROSCOPE]], and
-[[MAGNETOMETER]]. Regardless, the fusion is platform specific and can happen in software or
+Note: {{Accelerometer}}, {{Gyroscope}} and {{Magnetometer}} [=low-level=] sensors are defined in [[ACCELEROMETER]], [[GYROSCOPE]], and
+[[MAGNETOMETER]] specifications respectively. The [=sensor-fusion|sensor fusion=] is platform specific and can happen in software or
 hardware, i.e. on a sensor hub.
 
+The AbsoluteOrientationSensor Model {#absoluteorientationsensor-model}
+----------------------------------------------------------------------
+
+The {{AbsoluteOrientationSensor}} class is a subclass of {{OrientationSensor}} which represents the [=Absolute
+Orientation Sensor=].
+
 For the absolute orientation sensor the value of [=latest reading=]["quaternion"] represents the rotation of a
 device hosting motion sensors in relation to the Earth's reference coordinate system defined as a
 three dimensional Cartesian coordinate system (x, y, z), where:
@@ -242,6 +267,19 @@ orientation sensor's [=latest reading=] would represent 0 (rad) [[SI]] rotation
 
 AbsoluteOrientationSensor coordinate system.
 
+The RelativeOrientationSensor Model {#relativeorientationsensor-model}
+----------------------------------------------------------------------
+
+The {{RelativeOrientationSensor}} class is a subclass of {{OrientationSensor}} which represents the [=Relative
+Orientation Sensor=].
+
+For the relative orientation sensor the value of [=latest reading=]["quaternion"] represents the rotation of a
+device hosting motion sensors in relation to a stationary reference coordinate system.
+
+Note: The relative orientation sensor data could be more accurate than the one provided by absolute orientation sensor,
+as the sensor is not affected by magnetic fields. However, the stationary reference coordinate system may drift due to
+the bias introduced by gyroscope sensor.
+
 API {#api}
 ===
 
@@ -340,6 +378,18 @@ The AbsoluteOrientationSensor Interface {#absoluteorientationsensor-interface}
 To Construct an AbsoluteOrientationSensor Object the user agent must invoke the
 construct a Sensor object abstract operation.
 
+The RelativeOrientationSensor Interface {#relativeorientationsensor-interface}
+-------------------------------------
+
+
+  [Constructor(optional SensorOptions sensorOptions)]
+  interface RelativeOrientationSensor : OrientationSensor {
+  };
+

+
+To Construct an RelativeOrientationSensor Object the user agent must invoke the
+construct a Sensor object abstract operation.
+
 Acknowledgements {#acknowledgements}
 ================
 
diff --git a/index.html b/index.html
index 2db29c5..6c50397 100644
--- a/index.html
+++ b/index.html
@@ -1183,7 +1183,7 @@
       background-attachment: fixed;
     }
   
-  
+