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

GeomagneticAttitudeEstimator

Estimates a leveled absolute attitude using accelerometer (or gravity) and magnetometer sensors. Gyroscope is not used in this estimator. Roll and pitch Euler angles are leveled using accelerometer or gravity sensors. Yaw angle is obtained from magnetometer once the leveling is estimated.

Constructors

constructor(context: Context, location: Location? = null, sensorDelay: SensorDelay = SensorDelay.GAME, useAccelerometer: Boolean = true, accelerometerSensorType: AccelerometerSensorType = AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, magnetometerSensorType: MagnetometerSensorType = MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, accelerometerAveragingFilter: AveragingFilter = LowPassAveragingFilter(), worldMagneticModel: WorldMagneticModel? = null, timestamp: Date = Date(), useWorldMagneticModel: Boolean = false, useAccurateLevelingEstimator: Boolean = false, estimateCoordinateTransformation: Boolean = false, estimateEulerAngles: Boolean = true, attitudeAvailableListener: GeomagneticAttitudeEstimator.OnAttitudeAvailableListener? = null, accelerometerMeasurementListener: AccelerometerSensorCollector.OnMeasurementListener? = null, gravityMeasurementListener: GravitySensorCollector.OnMeasurementListener? = null, magnetometerMeasurementListener: MagnetometerSensorCollector.OnMeasurementListener? = null, gravityEstimationListener: GravityEstimator.OnEstimationListener? = null)

Constructor.

Types

OnAttitudeAvailableListener

fun interface OnAttitudeAvailableListener

Interface to notify when a new attitude 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

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).

attitudeAvailableListener

var attitudeAvailableListener: GeomagneticAttitudeEstimator.OnAttitudeAvailableListener?

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.

gravityEstimationListener

var gravityEstimationListener: GravityEstimator.OnEstimationListener?

Listener to notify when a new gravity estimation is available.

gravityMeasurementListener

var gravityMeasurementListener: GravitySensorCollector.OnMeasurementListener?

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

location

var location: Location?

Gets or sets device location

magnetometerMeasurementListener

var magnetometerMeasurementListener: MagnetometerSensorCollector.OnMeasurementListener?

listener to notify new magnetometer measurements.

magnetometerSensorType

val magnetometerSensorType: MagnetometerSensorType

One of the supported magnetometer sensor types.

running

var running: Boolean

Indicates whether this estimator is running or not.

sensorDelay

val sensorDelay: SensorDelay

Delay of sensors between samples.

timestamp

var timestamp: Date

Timestamp when World Magnetic Model will be evaluated to obtain current magnetic declination. Only taken into account if useWorldMagneticModel is true.

useAccelerometer

val useAccelerometer: Boolean

true to use accelerometer sensor, false to use system gravity sensor for leveling purposes.

useAccurateLevelingEstimator

var useAccurateLevelingEstimator: Boolean

Indicates whether accurate leveling must be used or not.

useWorldMagneticModel

var useWorldMagneticModel: Boolean

Indicates whether world magnetic model is taken into account to adjust attitude yaw angle by current magnetic declination based on current World Magnetic Model, location and timestamp.

worldMagneticModel

var worldMagneticModel: WorldMagneticModel?

Earth's magnetic model. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.

Functions

start

fun start(): Boolean

Starts this estimator.

stop

fun stop()

Stops this estimator.