lib/com.irurueta.android.navigation.inertial.estimators.attitude/BaseRelativeGyroscopeAttitudeEstimator2

BaseRelativeGyroscopeAttitudeEstimator2

abstract class BaseRelativeGyroscopeAttitudeEstimator2<T : BaseRelativeGyroscopeAttitudeEstimator2<T, L1, L2>, L1 : BaseRelativeGyroscopeAttitudeEstimator2.OnAttitudeAvailableListener<T, L1, L2>, L2 : BaseRelativeGyroscopeAttitudeEstimator2.OnAccuracyChangedListener<T, L1, L2>>(val context: Context, val sensorType: GyroscopeSensorType, val sensorDelay: SensorDelay, val startOffsetEnabled: Boolean, val estimateCoordinateTransformation: Boolean, val estimateEulerAngles: Boolean, var attitudeAvailableListener: L1?, var accuracyChangedListener: L2?)

Base class for estimators of device relative attitude respect to start attitude by integrating gyroscope sensor data without using any additional sensors.

Inheritors

AccurateRelativeGyroscopeAttitudeEstimator2

RelativeGyroscopeAttitudeEstimator2

Constructors

BaseRelativeGyroscopeAttitudeEstimator2

constructor(context: Context, sensorType: GyroscopeSensorType, sensorDelay: SensorDelay, startOffsetEnabled: Boolean, estimateCoordinateTransformation: Boolean, estimateEulerAngles: Boolean, attitudeAvailableListener: L1?, accuracyChangedListener: L2?)

Types

OnAccuracyChangedListener

fun interface OnAccuracyChangedListener<T : BaseRelativeGyroscopeAttitudeEstimator2<T, L1, L2>, L1 : BaseRelativeGyroscopeAttitudeEstimator2.OnAttitudeAvailableListener<T, L1, L2>, L2 : BaseRelativeGyroscopeAttitudeEstimator2.OnAccuracyChangedListener<T, L1, L2>>

Interface to notify when sensor accuracy changes.

OnAttitudeAvailableListener

fun interface OnAttitudeAvailableListener<T : BaseRelativeGyroscopeAttitudeEstimator2<T, L1, L2>, L1 : BaseRelativeGyroscopeAttitudeEstimator2.OnAttitudeAvailableListener<T, L1, L2>, L2 : BaseRelativeGyroscopeAttitudeEstimator2.OnAccuracyChangedListener<T, L1, L2>>

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

Properties

accuracyChangedListener

var accuracyChangedListener: L2?

listener to notify changes in accuracy.

attitudeAvailableListener

var attitudeAvailableListener: L1?

listener to notify when a new attitude measurement is available.

context

val context: Context

Android context.

estimateCoordinateTransformation

val estimateCoordinateTransformation: Boolean

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

running

val running: Boolean

Indicates whether this estimator is running or not.

sensorDelay

val sensorDelay: SensorDelay

Delay of gyroscope between samples.

sensorType

val sensorType: GyroscopeSensorType

One of the supported gyroscope sensor types.

startOffset

val startOffset: Long?

Initial offset expressed in nano seconds between first received measurement timestamp and start time expressed in the monotonically increasing system clock obtained by SystemClock.elapsedRealtimeNanos.

startOffsetEnabled

val startOffsetEnabled: Boolean

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

timeIntervalSeconds

val timeIntervalSeconds: Double

Time interval expressed in seconds between consecutive gyroscope measurements

Functions

start

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

Starts this estimator.

stop

fun stop()

Stops this estimator.