Relative
Estimates pose with 6DOF (Degrees of Freedom) containing relative attitude from an unknown location.
Constructors
Constructor.
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 when using accelerometer). 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.
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 device initial location when this estimator starts. Only when an initial location is provided useAccurateLevelingEstimator is actually taken into account, otherwise it is ignored.
Gets or sets initial device speed expressed in ENU body coordinates.
notifies when a new estimated pose is available.
Delay of sensors between samples.
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.