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STRUCT

VpsAnchorUpdate

public struct VpsAnchorUpdate: CustomStringConvertible

Contains the latest tracking information for a VPS anchor.

AnchorUpdate provides comprehensive information about an anchor's current state, including its pose, tracking quality, and status information. This data is updated as VPS refines its localization.

Overview​

Anchor updates are retrieved via getAnchorUpdate(anchorId:) and provide the most current information about an anchor's position, orientation, and tracking status. The data includes confidence metrics and timestamps for quality assessment.

Example Usage​

let (status, update) = vpsSession.getAnchorUpdate(anchorId: anchorId)
if status.isOk() {
    print("Anchor ID: \(update.anchorId)")
    print("Pose: \(update.anchorToLocalTransform)")
    print("Tracking State: \(update.trackingState)")
    print("Confidence: \(update.trackingConfidence)")

    if update.trackingState == .tracked && update.trackingConfidence > 0.8 {
        // Use anchor pose for AR content placement
        placeARContent(at: update.anchorToLocalTransform)
    }
}

Properties​

anchorId​

public var anchorId: ArdkVpsAnchorId

The unique identifier of the anchor.

anchorToLocalTransform​

public var anchorToLocalTransform: simd_float4x4?

The 4x4 transformation matrix from anchor space to local tracking space.

This matrix represents the anchor's position and orientation relative to the device's current local coordinate system. Use this for placing AR content relative to the anchor.

trackingState​

public var trackingState: AnchorTrackingState

The current tracking state of the anchor.

Indicates whether the anchor is being tracked and how reliable the pose data is. See AnchorTrackingState for detailed information about each state.

trackingStateReason​

public var trackingStateReason: AnchorTrackingStateReason

Additional context about the tracking state.

Provides specific reasons for tracking issues or state changes, helping applications understand and respond to tracking problems.

trackingConfidence​

public var trackingConfidence: Float?

Confidence score for the current tracking estimate.

A value between 0.0 and 1.0 indicating the reliability of the pose estimate. Higher values indicate more reliable tracking. Use this to determine whether the pose data is suitable for your application.

timestampMs​

public var timestampMs: UInt64?

Timestamp when this update was generated (in milliseconds since epoch).

description​

public var description: String