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

BaseGeomagneticAttitudeProcessor

abstract class BaseGeomagneticAttitudeProcessor<M : SensorMeasurement<M>, S : SyncedSensorMeasurement>(var processorListener: BaseGeomagneticAttitudeProcessor.OnProcessedListener<M, S>?)

Base class to estimate leveled absolute attitude using accelerometer (or gravity) and magnetometer sensors. Roll and pitch Euler angles are leveled using accelerometer or gravity sensors. Yaw angle is obtained from magnetometer once the leveling is estimated.

Parameters

type of accelerometer or gravity sensor measurement.

type of synced sensor measurement.

Inheritors

AccelerometerGeomagneticAttitudeProcessor

GeomagneticAttitudeProcessor

Constructors

BaseGeomagneticAttitudeProcessor

constructor(processorListener: BaseGeomagneticAttitudeProcessor.OnProcessedListener<M, S>?)

Types

OnProcessedListener

fun interface OnProcessedListener<M : SensorMeasurement<M>, S : SyncedSensorMeasurement>

Interface to notify when a new leveled absolute attitude has been processed.

Properties

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.

currentDate

var currentDate: Date?

Timestamp being used when World Magnetic Model is evaluated to obtain current magnetic declination. This is only taken into account if useWorldMagneticModel is true. If not defined, current date is assumed.

fusedAttitude

val fusedAttitude: Quaternion

Instance to be reused containing estimated attitude in NED coordinates by merging leveled attitude with magnetometer measurements.

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).

val 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).

val 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).

val 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?

Gets or sets device location

processorListener

var processorListener: BaseGeomagneticAttitudeProcessor.OnProcessedListener<M, S>?

listener to notify new leveled absolute attitudes.

useAccurateLevelingProcessor

var useAccurateLevelingProcessor: Boolean

Indicates whether accurate leveling must be used or not.

useWorldMagneticModel

var useWorldMagneticModel: Boolean

Indicates whether 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.

worldMagneticModel

var worldMagneticModel: WorldMagneticModel?

Earth's magnetic model. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.

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

abstract fun process(syncedMeasurement: S): Boolean

Processes provided synced measurement to estimate fused leveled absolute attitude.

reset

fun reset()

Resets internal parameters.