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

BaseRelativePoseProcessor

abstract class BaseRelativePoseProcessor(val initialSpeed: SpeedTriad, var processorListener: BaseRelativePoseProcessor.OnProcessedListener?)

Base class to estimate relative pose from an unknown location.

Inheritors

Constructors

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constructor(initialSpeed: SpeedTriad, processorListener: BaseRelativePoseProcessor.OnProcessedListener?)

Types

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fun interface OnProcessedListener

Interface to notify when a new pose has been processed.

Properties

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abstract 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.

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val initialSpeed: SpeedTriad

initial device speed in body coordinates.

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abstract var location: Location?

Gets or sets device location

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val poseTransformation: EuclideanTransformation3D

Contains current pose respect to the start of this estimator.

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var timeIntervalSeconds: Double

Time interval expressed in seconds between consecutive gyroscope measurements

Functions

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open fun reset()

Resets internal parameters.