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

AccurateLevelingProcessor

class AccurateLevelingProcessor(var location: Location, var processorListener: BaseLevelingProcessor.OnProcessedListener? = null) : BaseLevelingProcessor

Estimates leveling of device (roll and pitch angle) by using estimated gravity vector. This processor does not estimate attitude yaw angle, as either a magnetometer or gyroscope would be needed. This estimator is more accurate than LevelingEstimator since it takes into account device location (which requires location permission), and at the expense of higher CPU load.

Constructors

constructor(location: Location, processorListener: BaseLevelingProcessor.OnProcessedListener? = null)

Types

Companion

object Companion

Properties

attitude

var attitude: Quaternion

Instance to be reused containing estimated leveling attitude (roll and pitch angles) in NED coordinates.

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).

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

device location.

processorListener

var processorListener: BaseLevelingProcessor.OnProcessedListener?

listener to notify new leveling measurements.

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).

process

open override fun process(gx: Double, gy: Double, gz: Double)

Processes provided gravity components estimated using a BaseGravityProcessor.

reset

fun reset()

Resets this processor to its initial values.