# SensorFusionResult.PreciseEstimate

Artifact: [androidx.core.uwb:uwb](https://developer.android.com/jetpack/androidx/releases/core-uwb) [View Source](https://cs.android.com/search?q=file:androidx/core/uwb/SensorFusionResult.kt+class:androidx.core.uwb.SensorFusionResult.PreciseEstimate) Added in [1.1.0-alpha03](https://developer.android.com/jetpack/androidx/releases/core-uwb#1.1.0-alpha03)

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```
public final class SensorFusionResult.PreciseEstimate implements SensorFusionResult.Estimate
```

<br />

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An `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.Estimate` backed by both odometry data and range data.

## Summary

| ### Public constructors |
|---|
| `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.PreciseEstimate#PreciseEstimate(androidx.core.uwb.UwbDevice,androidx.core.uwb.RangingMeasurement,androidx.core.uwb.RangingMeasurement,androidx.core.uwb.RangingMeasurement,kotlin.Long)( @https://developer.android.com/reference/androidx/annotation/NonNull https://developer.android.com/reference/androidx/core/uwb/UwbDevice device, @https://developer.android.com/reference/androidx/annotation/NonNull https://developer.android.com/reference/androidx/core/uwb/RangingMeasurement distance, @https://developer.android.com/reference/androidx/annotation/NonNull https://developer.android.com/reference/androidx/core/uwb/RangingMeasurement azimuth, https://developer.android.com/reference/androidx/core/uwb/RangingMeasurement elevation, long elapsedRealtimeNanos )` |

| ### Public methods |
|---|---|
| `@https://developer.android.com/reference/androidx/annotation/NonNull https://developer.android.com/reference/androidx/core/uwb/RangingMeasurement` | `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.PreciseEstimate#getAzimuth()()` The azimuth angle in degrees of the ranging device, in the local device frame described by `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.Estimate`. |
| `@https://developer.android.com/reference/androidx/annotation/NonNull https://developer.android.com/reference/androidx/core/uwb/UwbDevice` | `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.PreciseEstimate#getDevice()()` The peer UWB device. |
| `@https://developer.android.com/reference/androidx/annotation/NonNull https://developer.android.com/reference/androidx/core/uwb/RangingMeasurement` | `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.PreciseEstimate#getDistance()()` The line-of-sight distance in meters of the ranging device. |
| `long` | `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.PreciseEstimate#getElapsedRealtimeNanos()()` The elapsed realtime in nanos from when the system booted up to this position estimate. |
| `https://developer.android.com/reference/androidx/core/uwb/RangingMeasurement` | `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.PreciseEstimate#getElevation()()` The elevation angle in degrees (`[-90, 90]`) of the ranging device, or null if not available. |

## Public constructors

### PreciseEstimate

Added in [1.1.0-alpha03](https://developer.android.com/jetpack/androidx/releases/core-uwb#1.1.0-alpha03)

```
public PreciseEstimate(
    @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, in the local device frame described by `https://developer.android.com/reference/androidx/core/uwb/SensorFusionResult.Estimate`. The range is `[-180, 180]`.

### 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 (`[-90, 90]`) of the ranging device, or null if not available. The angle is measured out of the device's XY plane and is positive towards the device's Z axis, so a positive elevation means the peer is towards the front of the screen.