SensorFusionResult.DriftingEstimate

public final class SensorFusionResult.DriftingEstimate implements SensorFusionResult.Estimate

An Estimate backed by odometry data only because raw UWB range has failed. Continuous drifting will lead to inaccurate results over time.

Summary

Public constructors
DriftingEstimate(
    @NonNull UwbDevice device,
    @NonNull RangingMeasurement distance,
    @NonNull RangingMeasurement azimuth,
    RangingMeasurement elevation,
    long elapsedRealtimeNanos
)

Public methods
@NonNull RangingMeasurement

The azimuth angle in degrees of the ranging device.
@NonNull UwbDevice

The peer UWB device.
@NonNull RangingMeasurement

The line-of-sight distance in meters of the ranging device.
long

The elapsed realtime in nanos from when the system booted up to this position estimate.
RangingMeasurement

The elevation angle in degrees of the ranging device, or null if not available.

Public constructors

DriftingEstimate

Added in 1.1.0-alpha02
public DriftingEstimate(
    @NonNull UwbDevice device,
    @NonNull RangingMeasurement distance,
    @NonNull RangingMeasurement azimuth,
    RangingMeasurement elevation,
    long elapsedRealtimeNanos
)

Public methods

getAzimuth

public @NonNull RangingMeasurement getAzimuth()

The azimuth angle in degrees of the ranging device. The range is -90, 90.

getDevice

public @NonNull UwbDevice getDevice()

The peer UWB device.

getDistance

public @NonNull RangingMeasurement getDistance()

The line-of-sight distance in meters of the ranging device.

getElapsedRealtimeNanos

public long getElapsedRealtimeNanos()

The elapsed realtime in nanos from when the system booted up to this position estimate.

getElevation

public RangingMeasurement getElevation()

The elevation angle in degrees of the ranging device, or null if not available. The range is -90, 90.