Ecef
Estimates pose with 6DOF (Degrees of Freedom) containing absolute attitude and position using ECEF navigation.
Parameters
true to use improved absolute attitude estimator, false otherwise.
Constructors
Constructor.
Types
Interface to notify when a new pose is available.
Properties
an averaging filter for accelerometer samples to obtain sensed gravity component of specific force.
listener to notify new accelerometer measurements.
One of the supported accelerometer sensor types. It is suggested to avoid using non-calibrated accelerometers.
Factor to take into account when interpolation value is computed and useIndirectAttitudeInterpolation is enabled to determine actual interpolation value based on current relative attitude rotation velocity.
Interpolation value to be used to combine both leveling and relative attitudes. Must be between 0.0 and 1.0 (both included). The closer to 0.0 this value is, the more resemblance the result will have to a pure leveling (which feels more jerky). On the contrary, the closer to 1.0 this value is, the more resemblance the result will have to a pure non-leveled relative attitude (which feels softer but might have arbitrary roll and pitch Euler angles).
Threshold to determine that leveling has largely diverged and if situation is not reverted soon, attitude will be reset to leveling.
Threshold to determine that current leveling appears to be an outlier respect to estimated fused attitude. When leveling and fused attitudes diverge, fusion is not performed, and instead only gyroscope relative attitude is used for fusion estimation.
Threshold to determine when fused attitude has largely diverged for a given number of samples and must be reset.
Gets average time interval between gyroscope samples expressed in seconds.
true to estimate 3D metric pose transformation.
listener to notify when a new gravity estimation is available.
listener to notify new gyroscope measurements.
One of the supported gyroscope sensor types. It is suggested to avoid using non-calibrated gyroscopes.
Gets or sets initial device location.
initial velocity of device expressed in NED coordinates.
Listener to notify new magnetometer measurements.
One of the supported magnetometer sensor types.
notifies when a new estimated pose is available.
Delay of sensors between samples.
Timestamp when World Magnetic Model will be evaluated to obtain current. Only taken into account if useWorldMagneticModel is tue.
true to use accelerometer sensor for attitude estimation, false to use system gravity sensor for leveling purposes. Regardless of this values, pose estimator always uses the accelerometer sensor, however, it can be used both for leveling and device motion, or only for device motion.
Indicates whether accurate leveling must be used or not.
Indicates whether accurate non-leveled relative attitude estimator must be used or not.
Indicates whether fusion between leveling and relative attitudes occurs based on changing interpolation value that depends on actual relative attitude rotation velocity.
True indicates that attitude is leveled and expressed respect to estimator start. False indicates that attitude is absolute.
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.
Earth's magnetic model. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.