lib/com.irurueta.android.navigation.inertial.processors.pose/AttitudeLocalPoseProcessor

AttitudeLocalPoseProcessor

class AttitudeLocalPoseProcessor(val initialLocation: Location, val initialVelocity: NEDVelocity = NEDVelocity(), val estimatePoseTransformation: Boolean = false, var processorListener: BaseLocalPoseProcessor.OnProcessedListener? = null) : BaseLocalPoseProcessor

Estimates absolute pose using local plane navigation. This class estimates attitude by using Android's absolute attitude sensor. Accelerometer and gyroscope are then taken into account to update device position.

Constructors

constructor(initialLocation: Location, initialVelocity: NEDVelocity = NEDVelocity(), estimatePoseTransformation: Boolean = false, processorListener: BaseLocalPoseProcessor.OnProcessedListener? = null)

Properties

currentEcefFrame

val currentEcefFrame: ECEFFrame

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

currentNedFrame

val currentNedFrame: NEDFrame

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

estimatePoseTransformation

val estimatePoseTransformation: Boolean

true to estimate 3D metric pose transformation.

initialEcefFrame

val initialEcefFrame: ECEFFrame

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

initialLocation

val initialLocation: Location

initial device location.

initialNedFrame

val initialNedFrame: NEDFrame

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

initialVelocity

val initialVelocity: NEDVelocity

initial velocity of device expressed in NED coordinates.

poseTransformation

val poseTransformation: EuclideanTransformation3D

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

previousEcefFrame

val previousEcefFrame: ECEFFrame

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

previousNedFrame

val previousNedFrame: NEDFrame

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

processorListener

var processorListener: BaseLocalPoseProcessor.OnProcessedListener?

listener to notify new poses.

timeIntervalSeconds

var timeIntervalSeconds: Double

Time interval expressed in seconds between consecutive gyroscope measurements

useLeveledRelativeAttitudeRespectStart

var useLeveledRelativeAttitudeRespectStart: Boolean

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

Functions

process

fun process(syncedMeasurement: AttitudeAccelerometerAndGyroscopeSyncedSensorMeasurement): Boolean

Processes provided synced measurement to estimate current attitude and position.

reset

open fun reset()

Resets internal parameters.