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GARGeospatialTransform

A representation of a global transform including location, orientation, altitude, and accuracy estimates.

Summary

Can be obtained from GAREarth.cameraGeospatialTransform, or from geospatialTransformFromTransform:error: (GARSession(Geospatial)).

Inheritance

Inherits from: NSObject

Properties

altitude
CLLocationDistance
Current estimate of altitude in reference to the WGS84 ellipsoid.
coordinate
CLLocationCoordinate2D
Current estimate of horizontal location, specified using the WGS84 specification.
eastUpSouthQTarget
simd_quatf
The quaternion from the target to East-Up-South (EUS) coordinates (i.e., +X points east, +Y points up, and +Z points south).
heading
CLLocationDirection
Deprecated. Use eastUpSouthQTarget to get the quaternion from target to East-Up-South (EUS) coordinates instead. To determine a value analogous to the heading value, calculate the yaw, pitch, and roll values from eastUpSouthQTarget. When the device is pointing downwards, i.e. perpendicular to the ground, heading is analoguous to roll, and when the device is upright in the device's default orientation mode, heading is analogous to yaw.
Current estimate of heading.
headingAccuracy
CLLocationDirectionAccuracy
Deprecated. This is valid only for GARGeospatialTransform from GAREarth.cameraGeospatialTransform, and is 0 for all other GARGeospatialTransform objects. To get the yaw uncertainty, use orientationYawAccuracy instead, which is analogous to the heading accuracy when the device is held upright in the default orientation mode.
The radius of uncertainty for GARGeospatialTransform.heading, measured in degrees.
horizontalAccuracy
CLLocationAccuracy
The radius of uncertainty for GARGeospatialTransform.coordinate, measured in meters.
orientationYawAccuracy
CLLocationDirectionAccuracy
Gets the radius of uncertainty for the orientation's yaw angle accuracy, measured in degrees of standard deviation from the estimate.
verticalAccuracy
CLLocationAccuracy
The radius of uncertainty for GARGeospatialTransform.altitude, measured in meters.

Properties

altitude

@property(readonly, nonatomic) CLLocationDistance altitude;

Current estimate of altitude in reference to the WGS84 ellipsoid.

Note: This can be compared to CLLocation.ellipsoidalAltitude , NOT CLLocation.altitude .

coordinate

@property(readonly, nonatomic) CLLocationCoordinate2D coordinate;

Current estimate of horizontal location, specified using the WGS84 specification.

eastUpSouthQTarget

@property(readonly, nonatomic) simd_quatf eastUpSouthQTarget;

The quaternion from the target to East-Up-South (EUS) coordinates (i.e., +X points east, +Y points up, and +Z points south).

An identity quaternion will have the target frame oriented such that X+ points to the east, Y+ points up away from the center of the earth, and Z+ points to the south.

heading

@property(readonly, nonatomic) CLLocationDirection heading;

Current estimate of heading.

North is 0°, East is 90°, and the angle continues to increase clockwise. The range is [0,360).

This is valid only for GARGeospatialTransform from GAREarth.cameraGeospatialTransform, and is 0 for all other GARGeospatialTransform objects.

Deprecated. Use eastUpSouthQTarget to get the quaternion from target to East-Up-South (EUS) coordinates instead. To determine a value analogous to the heading value, calculate the yaw, pitch, and roll values from eastUpSouthQTarget. When the device is pointing downwards, i.e. perpendicular to the ground, heading is analoguous to roll, and when the device is upright in the device's default orientation mode, heading is analogous to yaw.

headingAccuracy

@property(readonly, nonatomic) CLLocationDirectionAccuracy headingAccuracy;

The radius of uncertainty for GARGeospatialTransform.heading, measured in degrees.

The GARGeospatialTransform.heading identifies the mean of the heading estimate and this value indicates the standard deviation of the estimate.

Deprecated. This is valid only for GARGeospatialTransform from GAREarth.cameraGeospatialTransform, and is 0 for all other GARGeospatialTransform objects. To get the yaw uncertainty, use orientationYawAccuracy instead, which is analogous to the heading accuracy when the device is held upright in the default orientation mode.

horizontalAccuracy

@property(readonly, nonatomic) CLLocationAccuracy horizontalAccuracy;

The radius of uncertainty for GARGeospatialTransform.coordinate, measured in meters.

The GARGeospatialTransform.coordinate identifies the center of the circle, and this value indicates the radius of that circle.

orientationYawAccuracy

@property(readonly, nonatomic) CLLocationDirectionAccuracy orientationYawAccuracy;

Gets the radius of uncertainty for the orientation's yaw angle accuracy, measured in degrees of standard deviation from the estimate.

Yaw rotation is the angle between the transform's compass direction and north, and can be determined from eastUpSouthQTarget.

verticalAccuracy

@property(readonly, nonatomic) CLLocationAccuracy verticalAccuracy;

The radius of uncertainty for GARGeospatialTransform.altitude, measured in meters.

The GARGeospatialTransform.altitude identifies the mean of the altitude estimate and this value indicates the standard deviation of the estimate.