lib

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

BaseECEFAbsolutePoseProcessor

abstract class BaseECEFAbsolutePoseProcessor(val initialLocation: Location, val initialVelocity: NEDVelocity, val estimatePoseTransformation: Boolean, var processorListener: BaseECEFAbsolutePoseProcessor.OnProcessedListener?)

Base class to estimate absolute pose expressed in ECEF coordinates. Implementations of this subclass might use a combination of: accelerometer, gyroscope, magnetometer, gravity or attitude measurements.

Inheritors

AttitudeECEFAbsolutePoseProcessor

BaseDoubleFusedECEFAbsolutePoseProcessor

BaseFusedECEFAbsolutePoseProcessor

Constructors

BaseECEFAbsolutePoseProcessor

constructor(initialLocation: Location, initialVelocity: NEDVelocity, estimatePoseTransformation: Boolean, processorListener: BaseECEFAbsolutePoseProcessor.OnProcessedListener?)

Types

OnProcessedListener

fun interface OnProcessedListener

Interface to notify when a new pose has been processed.

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: BaseECEFAbsolutePoseProcessor.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

open fun reset()

Resets internal parameters.