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

AttitudeRelativePoseProcessor

class AttitudeRelativePoseProcessor(val initialSpeed: SpeedTriad = SpeedTriad(), val averagingFilter: AveragingFilter = LowPassAveragingFilter(), var processorListener: BaseRelativePoseProcessor.OnProcessedListener? = null) : BaseRelativePoseProcessor

Estimates relative (or absolute) pose from an unknown location. This class estimates attitude by using Android's relative attitude sensor. Accelerometer and gyroscope are then taken into account to update device position.

Constructors

constructor(initialSpeed: SpeedTriad = SpeedTriad(), averagingFilter: AveragingFilter = LowPassAveragingFilter(), processorListener: BaseRelativePoseProcessor.OnProcessedListener? = null)

Properties

adjustGravityNorm

open override 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.

averagingFilter

val averagingFilter: AveragingFilter

an averaging filter for accelerometer samples to obtain sensed gravity component of specific force.

initialSpeed

val initialSpeed: SpeedTriad

initial device speed in body coordinates.

location

open override var location: Location?

Gets or sets device location

poseTransformation

val poseTransformation: EuclideanTransformation3D

Contains current pose respect to the start of this estimator.