lib

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

BaseLevelingEstimator

abstract class BaseLevelingEstimator<T : BaseLevelingEstimator<T, L>, L : BaseLevelingEstimator.OnLevelingAvailableListener<T, L>>(val context: Context, val sensorDelay: SensorDelay = SensorDelay.GAME, val useAccelerometer: Boolean = false, val accelerometerSensorType: AccelerometerSensorType = AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, val accelerometerAveragingFilter: AveragingFilter = LowPassAveragingFilter(), val estimateCoordinateTransformation: Boolean = false, val estimateEulerAngles: Boolean = true, var levelingAvailableListener: L? = null, var gravityEstimationListener: GravityEstimator.OnEstimationListener? = null)

Base class for estimators of device leveling (roll and pitch angles) by estimating gravity vector using accelerometer measurements only. Implementations of this estimator does not estimate attitude yaw angle, as either a magnetometer or gyroscope would be needed.

Inheritors

AccurateLevelingEstimator

LevelingEstimator

Constructors

BaseLevelingEstimator

constructor(context: Context, sensorDelay: SensorDelay = SensorDelay.GAME, useAccelerometer: Boolean = false, accelerometerSensorType: AccelerometerSensorType = AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, accelerometerAveragingFilter: AveragingFilter = LowPassAveragingFilter(), estimateCoordinateTransformation: Boolean = false, estimateEulerAngles: Boolean = true, levelingAvailableListener: L? = null, gravityEstimationListener: GravityEstimator.OnEstimationListener? = null)

Types

OnLevelingAvailableListener

fun interface OnLevelingAvailableListener<T : BaseLevelingEstimator<T, L>, L : BaseLevelingEstimator.OnLevelingAvailableListener<T, L>>

Interface to notify when a new leveling measurement is available.

Properties

accelerometerAveragingFilter

val accelerometerAveragingFilter: AveragingFilter

an averaging filter for accelerometer samples to obtain sensed gravity component of specific force. (Only used if useAccelerometer is true).

accelerometerMeasurementListener

abstract var accelerometerMeasurementListener: AccelerometerSensorCollector.OnMeasurementListener?

Listener to notify new accelerometer measurements. (Only used if useAccelerometer is true).

accelerometerSensorType

val accelerometerSensorType: AccelerometerSensorType

One of the supported accelerometer sensor types. (Only used if useAccelerometer is true).

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.

gravityEstimationListener

var gravityEstimationListener: GravityEstimator.OnEstimationListener?

listener to notify when a new gravity estimation is available.

gravityMeasurementListener

abstract var gravityMeasurementListener: GravitySensorCollector.OnMeasurementListener?

listener to notify new gravity measurements. (Only used if useAccelerometer is false).

levelingAvailableListener

var levelingAvailableListener: L?

listener to notify when a new leveling measurement is available.

val running: Boolean

Indicates whether this estimator is running or not.

val sensorDelay: SensorDelay

Delay of accelerometer or gravity sensor between samples.

useAccelerometer

val useAccelerometer: Boolean = false

true to use accelerometer sensor, false to use system gravity sensor.

Functions

fun start(): Boolean

Starts this estimator.

fun stop()

Stops this estimator.