AccelerometerFusedECEFAbsolutePoseProcessor

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.

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). 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 geomagnetic attitude has largely diverged and if situation is not reverted soon, attitude will be reset to geomagnetic one.

Threshold to determine that current geomagnetic attitude appears to be an outlier respect to estimated fused attitude. When geomagnetic attitude 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.

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.

Current device frame expressed in ECEF coordinates. This is reused for performance reasons.

Current device frame expressed in NED coordinates. This is reused for performance reasons.

true to estimate 3D metric pose transformation.

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

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

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

Time interval expressed in seconds between consecutive gyroscope measurements

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

Device frame expressed in ECEF coordinates when estimator starts. This is reused for performance reasons.

initial device location.

Device frame expressed in NED coordinates when estimator starts. This is reused for performance reasons.

initial velocity of device expressed in NED coordinates.

3D metric pose transformation. This is reused for performance reasons.

Device frame expressed in ECEF coordinates for previous set of measurements. This is reused for performance reasons.

Device frame expressed in NED coordinates for previous set of measurements. This is reused for performance reasons.

listener to notify new poses.

Time interval expressed in seconds between consecutive gyroscope measurements

Indicates whether accurate leveling must be used or not.

Indicates whether accurate non-leveled relative attitude processor 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.

True indicates that attitude is leveled and expressed respect to estimator start. False indicates that attitude is absolute.

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. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.

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. If null, the default model is used if useWorldMagneticModel is true. If useWorldMagneticModel is false, this is ignored.

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

Processes provided synced measurement to estimate current attitude and position.

Resets internal parameters.