lib/com.irurueta.android.navigation.inertial.estimators.attitude/AttitudeEstimator2

AttitudeEstimator2

class AttitudeEstimator2(val context: Context, val sensorDelay: SensorDelay = SensorDelay.GAME, val attitudeSensorType: AttitudeSensorType = AttitudeSensorType.ABSOLUTE_ATTITUDE, val startOffsetEnabled: Boolean = true, val estimateCoordinateTransformation: Boolean = false, val estimateEulerAngles: Boolean = true, var attitudeAvailableListener: AttitudeEstimator2.OnAttitudeAvailableListener? = null, var accuracyChangedListener: AttitudeEstimator2.OnAccuracyChangedListener? = null)

Estimates absolute or relative attitude using Android rotation vector sensors. When using an AttitudeSensorType.ABSOLUTE_ATTITUDE, android combines accelerometer and magnetometer measurements to obtain a leveled absolute attitude respect to Earth. When using an AttitudeSensorType.RELATIVE_ATTITUDE, android does not use a magnetometer and a leveled attitude is obtained with an arbitrary yaw angle respect to Earth.

Constructors

AttitudeEstimator2

constructor(context: Context, sensorDelay: SensorDelay = SensorDelay.GAME, attitudeSensorType: AttitudeSensorType = AttitudeSensorType.ABSOLUTE_ATTITUDE, startOffsetEnabled: Boolean = true, estimateCoordinateTransformation: Boolean = false, estimateEulerAngles: Boolean = true, attitudeAvailableListener: AttitudeEstimator2.OnAttitudeAvailableListener? = null, accuracyChangedListener: AttitudeEstimator2.OnAccuracyChangedListener? = null)

Types

OnAccuracyChangedListener

fun interface OnAccuracyChangedListener

Interface to notify when sensor (either accelerometer, gravity or magnetometer) accuracy changes.

OnAttitudeAvailableListener

fun interface OnAttitudeAvailableListener

Interface to notify when a new absolute or relative attitude measurement is available.

Properties

accuracyChangedListener

var accuracyChangedListener: AttitudeEstimator2.OnAccuracyChangedListener?

listener to notify changes in accuracy.

attitudeAvailableListener

var attitudeAvailableListener: AttitudeEstimator2.OnAttitudeAvailableListener?

listener to notify when a new attitude measurement is available.

attitudeSensorType

val attitudeSensorType: AttitudeSensorType

One of the supported attitude sensor types.

context

val context: Context

Android context.

estimateCoordinateTransformation

val estimateCoordinateTransformation: Boolean = false

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

estimateEulerAngles

val estimateEulerAngles: Boolean = true

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

running

var running: Boolean

Indicates whether this estimator is running or not.

sensorDelay

val sensorDelay: SensorDelay

Delay of sensors between samples.

startOffsetEnabled

val startOffsetEnabled: Boolean = true

indicates whether start offsets will be computed when first measurement is received or not. True indicates that offset is computed, false assumes that offset is null.

Functions

start

fun start(startTimestamp: Long = SystemClock.elapsedRealtimeNanos()): Boolean

Starts this estimator.

stop

fun stop()

Stops this estimator.