lib/com.irurueta.android.navigation.inertial.estimators.pose/LocalPoseEstimator2/LocalPoseEstimator2

LocalPoseEstimator2

constructor(context: Context, initialLocation: Location, initialVelocity: NEDVelocity = NEDVelocity(), sensorDelay: SensorDelay = SensorDelay.FASTEST, useAttitudeSensor: Boolean = true, useAccelerometerForAttitudeEstimation: Boolean = false, startOffsetEnabled: Boolean = true, accelerometerSensorType: AccelerometerSensorType = AccelerometerSensorType.ACCELEROMETER_UNCALIBRATED, magnetometerSensorType: MagnetometerSensorType = MagnetometerSensorType.MAGNETOMETER_UNCALIBRATED, accelerometerAveragingFilter: AveragingFilter = LowPassAveragingFilter(), gyroscopeSensorType: GyroscopeSensorType = GyroscopeSensorType.GYROSCOPE_UNCALIBRATED, worldMagneticModel: WorldMagneticModel? = null, timestamp: Date? = null, useWorldMagneticModel: Boolean = false, useAccurateLevelingProcessor: Boolean = true, useAccurateRelativeGyroscopeAttitudeProcessor: Boolean = true, useDoubleFusedAttitudeProcessor: Boolean = true, estimatePoseTransformation: Boolean = false, poseAvailableListener: LocalPoseEstimator2.OnPoseAvailableListener? = null, accuracyChangedListener: LocalPoseEstimator2.OnAccuracyChangedListener? = null, bufferFilledListener: LocalPoseEstimator2.OnBufferFilledListener? = null, adjustGravityNorm: Boolean = true)

Parameters

initialLocation

initial device location.

initialVelocity

initial velocity of device expressed in NED coordinates.

worldMagneticModel

Earth's magnetic model. Null to use default model when useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored. This is ignored if useAttitudeSensor is true.

timestamp

Timestamp when World Magnetic Model will be evaluated to obtain current. Only taken into account if useWorldMagneticModel is tue. This is ignored if useAttitudeSensor is true.

useWorldMagneticModel

true so that 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, false to ignore declination. This is ignored if useAttitudeSensor is true.

useAccurateLevelingProcessor

true to use accurate leveling, false to use a normal one. This is ignored if useAttitudeSensor is true.

estimatePoseTransformation

true to estimate 3D metric pose transformation, false to skip transformation computation.