While anything is possible with enough work at it I'm going to say 'no' on this one - There is no (reasonable) way to do this.
I was looking for the same thing as soon as the Pi2 came out, but due to the arm processor the Linux SDK is not usable, and to the best of my knowledge they have no intention of making one because quite frankly they lack the horsepower for many of the SDK tasks, such as Virtual Devices and even just running the IDE would likely be painful.
One thing you can do though is develop a lot of your code on the Pi, then shift over to the SDK on a full PC when you have most of your work functional - I am undergoing a similar process as I work on a small game for Android and am able to do virtually all development via a text console until it is time to build a GUI around a nearly-completed program.
Enjoy the Pi, but recognize that it has its own limitations. Also, you could always build a cool program for the Pi instead!