lib/com.irurueta.android.navigation.inertial.processors.attitude/AccelerometerGravityProcessor

AccelerometerGravityProcessor

class AccelerometerGravityProcessor(val averagingFilter: AveragingFilter = LowPassAveragingFilter(), location: Location? = null, adjustGravityNorm: Boolean = true, processorListener: BaseGravityProcessor.OnProcessedListener<AccelerometerSensorMeasurement>? = null) : BaseGravityProcessor<AccelerometerSensorMeasurement>

Collects accelerometer measurements based on android coordinates system (ENU) and uses a low-pass filter to assume it is the gravity component of specific force and converts it to NED coordinates system.

Constructors

constructor(averagingFilter: AveragingFilter = LowPassAveragingFilter(), location: Location? = null, adjustGravityNorm: Boolean = true, processorListener: BaseGravityProcessor.OnProcessedListener<AccelerometerSensorMeasurement>? = null)

Properties

accuracy

var accuracy: SensorAccuracy?

Accuracy of last sensed gravity measurement.

adjustGravityNorm

var adjustGravityNorm: Boolean

indicates whether gravity norm must be adjusted to either Earth standard norm, or norm at provided location. If no location is provided, this should only be enabled when device is close to sea level.

averagingFilter

val averagingFilter: AveragingFilter

an averaging filter for accelerometer samples to obtain sensed gravity component of specific force.

expectedGravityNorm

val expectedGravityNorm: Double

Gets expected gravity norm at provided location. If No location is provided, average gravity at sea level is returned instead. This value will be used to adjust to adjust gravity norm if adjustGravityNorm is true.

gravity

val gravity: AccelerationTriad

Gets a new triad containing gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

gravityNorm

val gravityNorm: Double

Gets norm of current gravity.

var gx: Double

X-coordinates of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

var gy: Double

Y-coordinate of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

var gz: Double

Z-coordinate of last sensed gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

location

var location: Location?

current device location.

processorListener

var processorListener: BaseGravityProcessor.OnProcessedListener<AccelerometerSensorMeasurement>?

listener to notify new gravity measurements.

timestamp

var timestamp: Long

Time in nanoseconds at which the measurement was made. Each measurement will be monotonically increasing using the same time base as android.os.SystemClock.elapsedRealtimeNanos.

Functions

getGravity

fun getGravity(result: AccelerationTriad)

Updates provided triad to contain gravity component of specific force expressed in NED coordinates and in meters per squared second (m/s^2).

getNedPosition

fun getNedPosition(result: NEDPosition): Boolean

Gets NED position from provided location.

process

open override fun process(measurement: AccelerometerSensorMeasurement, timestamp: Long): Boolean

Processes an accelerometer sensor measurement collected by a collector or a syncer.

reset

fun reset()

Resets this processor to its initial values.