Package com.irurueta.ar.slam

Class AbsoluteOrientationBaseSlamEstimator<D extends BaseCalibrationData>

java.lang.Object

com.irurueta.ar.slam.BaseSlamEstimator<D>

com.irurueta.ar.slam.AbsoluteOrientationBaseSlamEstimator<D>

Type Parameters:

D - calibrator type associated to implementations of SLAM calibration data.

All Implemented Interfaces:

Serializable

Direct Known Subclasses:

AbsoluteOrientationConstantVelocityModelSlamEstimator, AbsoluteOrientationSlamEstimator

public abstract class AbsoluteOrientationBaseSlamEstimator<D extends BaseCalibrationData>
extends BaseSlamEstimator<D>
implements Serializable

Base class to estimate position, velocity, acceleration and orientation of a device using sensor data such as accelerometers, gyroscopes and magnetic fields (to obtain absolute orientation). Implementations of this class are designed taking into account sensors available on Android devices. This subclass of BaseSlamEstimator takes into account magnetic field measures to compute device orientation respect Earth's frame rather than relative to the start position and orientation of the device.

See Also:

• Serialized Form

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.ar.slam.BaseSlamEstimator

BaseSlamEstimator.BaseSlamEstimatorListener<D extends BaseCalibrationData>

Field Summary

Fields

Modifier and Type	Field	Description
protected com.irurueta.geometry.Quaternion	accumulatedOrientation	Average orientation accumulated since last full sample.
protected int	accumulatedOrientationSamples	Number of orientation samples accumulated since last full sample.
protected long	orientationTimestampNanos	Timestamp expressed in nanoseconds since the epoch time of the last sample containing absolute orientation.
private com.irurueta.geometry.Quaternion	tempQ	Temporary quaternion.

Fields inherited from class com.irurueta.ar.slam.BaseSlamEstimator

accelerometerTimestampNanos, accumulatedAccelerationSampleX, accumulatedAccelerationSampleY, accumulatedAccelerationSampleZ, accumulatedAccelerometerSamples, accumulatedAngularSpeedSampleX, accumulatedAngularSpeedSampleY, accumulatedAngularSpeedSampleZ, accumulatedGyroscopeSamples, accumulationEnabled, calibrationData, DEFAULT_ENABLE_SAMPLE_ACCUMULATION, error, gyroscopeTimestampNanos, listener, N_COMPONENTS_3D, NANOS_TO_SECONDS, normalDist, stateAccelerationX, stateAccelerationY, stateAccelerationZ, stateAngularSpeedX, stateAngularSpeedY, stateAngularSpeedZ, statePositionX, statePositionY, statePositionZ, stateQuaternionA, stateQuaternionB, stateQuaternionC, stateQuaternionD, stateVelocityX, stateVelocityY, stateVelocityZ

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	AbsoluteOrientationBaseSlamEstimator()	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.geometry.Rotation3D	getAccumulatedOrientation()	Gets average orientation accumulated since last full sample.
void	getAccumulatedOrientation(com.irurueta.geometry.Rotation3D result)	Gets average orientation accumulated since last full sample.
int	getAccumulatedOrientationSamples()	Gets number of orientation samples accumulated since last full sample.
long	getMostRecentTimestampNanos()	Gets most recent timestamp of received partial samples (accelerometer, gyroscope or magnetic field).
long	getOrientationTimestampNanos()	Gets timestamp expressed in nanoseconds since the epoch time of the last orientation sample, or -1 if no sample has been set yet.
boolean	isFullSampleAvailable()	Indicates whether a full sample (accelerometer + gyroscope + magnetic field) has been received or not.
boolean	isOrientationSampleReceived()	Indicates whether the orientation sample has been received since last full sample (accelerometer + gyroscope + orientation).
protected void	notifyFullSampleAndResetSampleReceive()	Notifies that a full sample has been received and resets flags indicating whether partial samples have been received.
void	updateOrientationSample(long timestamp, com.irurueta.geometry.Rotation3D orientation)	Provides a new orientation sample.

Methods inherited from class com.irurueta.ar.slam.BaseSlamEstimator

correctWithPositionMeasure, correctWithPositionMeasure, correctWithPositionMeasure, correctWithPositionMeasure, correctWithPositionMeasure, correctWithPositionMeasure, getAccelerometerTimestampNanos, getAccumulatedAccelerationSample, getAccumulatedAccelerationSample, getAccumulatedAccelerationSampleX, getAccumulatedAccelerationSampleY, getAccumulatedAccelerationSampleZ, getAccumulatedAccelerometerSamples, getAccumulatedAngularSpeedSample, getAccumulatedAngularSpeedSample, getAccumulatedAngularSpeedSampleX, getAccumulatedAngularSpeedSampleY, getAccumulatedAngularSpeedSampleZ, getAccumulatedGyroscopeSamples, getCalibrationData, getGyroscopeTimestampNanos, getListener, getPositionCovarianceMatrix, getStateAcceleration, getStateAcceleration, getStateAccelerationX, getStateAccelerationY, getStateAccelerationZ, getStateAngularSpeed, getStateAngularSpeed, getStateAngularSpeedX, getStateAngularSpeedY, getStateAngularSpeedZ, getStateCovariance, getStatePosition, getStatePosition, getStatePositionX, getStatePositionY, getStatePositionZ, getStateQuaternion, getStateQuaternion, getStateQuaternionA, getStateQuaternionArray, getStateQuaternionArray, getStateQuaternionB, getStateQuaternionC, getStateQuaternionD, getStateVelocity, getStateVelocity, getStateVelocityX, getStateVelocityY, getStateVelocityZ, hasError, isAccelerometerSampleReceived, isAccumulationEnabled, isGyroscopeSampleReceived, processFullSample, reset, reset, resetAcceleration, resetAngularSpeed, resetOrientation, resetPosition, resetPositionAndVelocity, resetVelocity, setAccumulationEnabled, setCalibrationData, setListener, setPositionCovarianceMatrix, updateAccelerometerSample, updateAccelerometerSample, updateGyroscopeSample, updateGyroscopeSample

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

orientationTimestampNanos

protected long orientationTimestampNanos

Timestamp expressed in nanoseconds since the epoch time of the last sample containing absolute orientation.

accumulatedOrientationSamples

protected int accumulatedOrientationSamples

Number of orientation samples accumulated since last full sample.

accumulatedOrientation

protected com.irurueta.geometry.Quaternion accumulatedOrientation

Average orientation accumulated since last full sample.

tempQ

private com.irurueta.geometry.Quaternion tempQ

Temporary quaternion. For memory reuse.

Constructor Details

AbsoluteOrientationBaseSlamEstimator

protected AbsoluteOrientationBaseSlamEstimator()

Constructor.

Method Details

getOrientationTimestampNanos

public long getOrientationTimestampNanos()

Gets timestamp expressed in nanoseconds since the epoch time of the last orientation sample, or -1 if no sample has been set yet.

Returns:

timestamp expressed in nanoseconds since the epoch time of the last orientation sample, or -1.

getAccumulatedOrientation

public com.irurueta.geometry.Rotation3D getAccumulatedOrientation()

Gets average orientation accumulated since last full sample.

Returns:

orientation accumulated since last full sample.

getAccumulatedOrientation

public void getAccumulatedOrientation(com.irurueta.geometry.Rotation3D result)

Gets average orientation accumulated since last full sample.

Parameters:

result - instance where orientation accumulated since last full sample will be stored.

getAccumulatedOrientationSamples

public int getAccumulatedOrientationSamples()

Gets number of orientation samples accumulated since last full sample.

Returns:

number of orientation samples accumulated since last full sample.

isOrientationSampleReceived

public boolean isOrientationSampleReceived()

Indicates whether the orientation sample has been received since last full sample (accelerometer + gyroscope + orientation).

Returns:

true if orientation sample has been received, false otherwise.

isFullSampleAvailable

public boolean isFullSampleAvailable()

Indicates whether a full sample (accelerometer + gyroscope + magnetic field) has been received or not.

Overrides:

isFullSampleAvailable in class BaseSlamEstimator<D extends BaseCalibrationData>

Returns:

true if full sample has been received, false otherwise.

updateOrientationSample

public void updateOrientationSample(long timestamp,
 com.irurueta.geometry.Rotation3D orientation)

Provides a new orientation sample. If accumulation is enabled, samples are averaged until a full sample is received. When a full sample (accelerometer + gyroscope + orientation) is received, internal state gets also updated.

Parameters:

timestamp - timestamp of accelerometer sample since epoch time and expressed in nanoseconds.

orientation - new orientation.

getMostRecentTimestampNanos

public long getMostRecentTimestampNanos()

Gets most recent timestamp of received partial samples (accelerometer, gyroscope or magnetic field).

Overrides:

getMostRecentTimestampNanos in class BaseSlamEstimator<D extends BaseCalibrationData>

Returns:

most recent timestamp of received partial sample.

notifyFullSampleAndResetSampleReceive

protected void notifyFullSampleAndResetSampleReceive()

Notifies that a full sample has been received and resets flags indicating whether partial samples have been received.

Overrides:

notifyFullSampleAndResetSampleReceive in class BaseSlamEstimator<D extends BaseCalibrationData>