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

AccurateRelativeGyroscopeAttitudeProcessor

class AccurateRelativeGyroscopeAttitudeProcessor(var processorListener: BaseRelativeGyroscopeAttitudeProcessor.OnProcessedListener? = null) : BaseRelativeGyroscopeAttitudeProcessor

Estimates relative attitude of device respect to an arbitrary initial attitude using gyroscope measurements only. This processor uses Runge-Kutta integration to obtain greater accuracy than RelativeGyroscopeAttitudeProcessor at the expense of additional cpu usage.

Constructors

constructor(processorListener: BaseRelativeGyroscopeAttitudeProcessor.OnProcessedListener? = null)

Properties

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val attitude: Quaternion

Instance to be reused which contains integrated attitude of all gyroscope samples using NED coordinates system.

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var processorListener: BaseRelativeGyroscopeAttitudeProcessor.OnProcessedListener?

listener to notify new relative attitudes.

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var timeIntervalSeconds: Double

Time interval expressed in seconds between consecutive gyroscope measurements

Functions

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

Processes a gyroscope sensor measurement to integrate angular speed values to obtain an accumulated attitude from an arbitrary attitude of origin.

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fun reset()

Resets this processor to its initial state.