lib/com.irurueta.android.navigation.inertial.estimators.attitude/AccurateRelativeGyroscopeAttitudeEstimator

AccurateRelativeGyroscopeAttitudeEstimator

class AccurateRelativeGyroscopeAttitudeEstimator(context: Context, sensorType: GyroscopeSensorType = GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, sensorDelay: SensorDelay = SensorDelay.GAME, estimateCoordinateTransformation: Boolean = false, estimateEulerAngles: Boolean = true, attitudeAvailableListener: AccurateRelativeGyroscopeAttitudeEstimator.OnAttitudeAvailableListener? = null, gyroscopeMeasurementListener: GyroscopeSensorCollector.OnMeasurementListener? = null) : BaseRelativeGyroscopeAttitudeEstimator<AccurateRelativeGyroscopeAttitudeEstimator, AccurateRelativeGyroscopeAttitudeEstimator.OnAttitudeAvailableListener>

Estimates relative attitude respect to start attitude by integrating gyroscope sensor data using Runge-Kutta integration for greater accuracy, and without using any additional sensors.

Constructors

constructor(context: Context, sensorType: GyroscopeSensorType = GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, sensorDelay: SensorDelay = SensorDelay.GAME, estimateCoordinateTransformation: Boolean = false, estimateEulerAngles: Boolean = true, attitudeAvailableListener: AccurateRelativeGyroscopeAttitudeEstimator.OnAttitudeAvailableListener? = null, gyroscopeMeasurementListener: GyroscopeSensorCollector.OnMeasurementListener? = null)

Properties

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var attitudeAvailableListener: AccurateRelativeGyroscopeAttitudeEstimator.OnAttitudeAvailableListener?

listener to notify when a new attitude measurement is available.

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val averageTimeInterval: Double

Gets average time interval between gyroscope samples expressed in seconds.

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val context: Context

Android context.

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val estimateCoordinateTransformation: Boolean

true to estimate coordinate transformation, false otherwise. If not needed, it can be disabled to improve performance and decrease cpu load.

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val estimateEulerAngles: Boolean

true to estimate euler angles, false otherwise. If not needed, it can be disabled to improve performance and decrease cpu load.

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var gyroscopeMeasurementListener: GyroscopeSensorCollector.OnMeasurementListener?

listener to notify new gyroscope measurements.

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var running: Boolean

Indicates whether this estimator is running or not.

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val sensorDelay: SensorDelay

Delay of gyroscope between samples.

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val sensorType: GyroscopeSensorType

One of the supported gyroscope sensor types.

Functions

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fun start(): Boolean

Starts this estimator.

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fun stop()

Stops this estimator.