GARSession(Geospatial)

Category adding Geospatial functionality to GARSession.

Summary

Public methods
checkVPSAvailabilityAtCoordinate:completionHandler:	GARVPSAvailabilityFuture * Gets the availability of the Visual Positioning System (VPS) at a specified horizontal position.
createAnchorOnStreetscapeGeometry:transform:error:	nullable GARAnchor * Creates an anchor at the given transform in the world coordinate space, attached to this GARStreetscapeGeometry, and acquires a reference to it.
createAnchorWithCoordinate:altitude:eastUpSouthQAnchor:error:	nullable GARAnchor * Creates a Geospatial anchor at the specified geodetic location and orientation relative to the Earth.
createAnchorWithCoordinate:altitudeAboveRooftop:eastUpSouthQAnchor:completionHandler:error:	nullable GARCreateAnchorOnRooftopFuture * Asynchronously creates a Rooftop anchor at the specified horizontal position and altitude relative to the horizontal position's rooftop.
createAnchorWithCoordinate:altitudeAboveTerrain:eastUpSouthQAnchor:completionHandler:error:	nullable GARCreateAnchorOnTerrainFuture * Asynchronously creates a Terrain anchor at a specified horizontal position and altitude relative to the horizontal position's terrain.
createAnchorWithCoordinate:altitudeAboveTerrain:eastUpSouthQAnchor:error:	nullable GARAnchor * Creates a Terrain anchor at the specified geodetic location, altitude relative to the horizontal position’s terrain and orientation relative to the Earth.
geospatialTransformFromTransform:error:	nullable GARGeospatialTransform * Converts the provided transform to a GARGeospatialTransform with respect to the Earth.
isGeospatialModeSupported:	BOOL Determines whether the given geospatial mode is supported on the current device and OS version.
raycastStreetscapeGeometry:direction:error:	nullable NSArray< GARStreetscapeGeometryRaycastResult * > * Performs a raycast against Streetscape Geometry loaded by the scene.
transformFromGeospatialCoordinate:altitude:eastUpSouthQTarget:error:	matrix_float4x4 Converts the provided Earth specified horizontal position, altitude and rotation with respect to an east-up-south coordinate frame to a local transform in world coordinate space.

Public methods

checkVPSAvailabilityAtCoordinate:completionHandler:

- (GARVPSAvailabilityFuture *)checkVPSAvailabilityAtCoordinate:
(CLLocationCoordinate2D) coordinate
completionHandler:
(void(^)(GARVPSAvailability availability)) completionHandler

Gets the availability of the Visual Positioning System (VPS) at a specified horizontal position.

The availability of VPS in a given location helps to improve the quality of Geospatial localization and tracking accuracy.

This launches an asynchronous operation used to query the Google Cloud ARCore API. See GARFuture for information on obtaining results and cancelling the operation.

Your app must be properly set up to communicate with the Google Cloud ARCore API in order to obtain a result from this call. See Check VPS Availability for more details on setup steps and usage examples.

Details
Parameters	coordinate The coordinate at which to check availability. completionHandler Completion handler to be invoked on the Main thread, if not nil.
Returns	A handle to the async operation that can be polled or cancelled.

Extends class GARSession.

createAnchorOnStreetscapeGeometry:transform:error:

- (nullable GARAnchor *)createAnchorOnStreetscapeGeometry:
(GARStreetscapeGeometry *) g
eometry
transform:
(matrix_float4x4) transform
error:
(NSError **) error

Creates an anchor at the given transform in the world coordinate space, attached to this GARStreetscapeGeometry, and acquires a reference to it.

Details
Parameters	geometry The object that this anchor will be attached to. transform The local transform in world coordinate space. error Out param for an NSError. Possible error codes: GARSessionErrorCodeIllegalState - current geospatial mode is disabled, or Streetscape Geometry mode is disabled. GARSessionErrorCodeNotTracking - Earth, Session or geometry's ARTrackingState is not GARTrackingStateTracking.
Returns	The new anchor, or nil if there was an error.

Extends class GARSession.

createAnchorWithCoordinate:altitude:eastUpSouthQAnchor:error:

- (nullable GARAnchor *)createAnchorWithCoordinate:
(CLLocationCoordinate2D) coordinate
altitude:
(CLLocationDistance) altitude
eastUpSouthQAnchor:
(simd_quatf) eastUpSouthQAnchor
error:
(NSError **
) error

Creates a Geospatial anchor at the specified geodetic location and orientation relative to the Earth.

Latitude and longitude are defined by the WGS84 specification, and altitude values are defined as the elevation above the WGS84 ellipsoid in meters.

The rotation provided by eastUpSouthQAnchor is a rotation with respect to an east-up-south coordinate frame. An identity rotation will have the anchor oriented such that X+ points to the east, Y+ points up away from the center of the earth, and Z+ points to the south.

An anchor's GARAnchor.trackingState will be GARTrackingStatePaused while GAREarth is GARTrackingStatePaused. The tracking state will permanently become GARTrackingStateStopped if the GARSession configuration is set to GARGeospatialModeDisabled.

Creating anchors near the north pole or south pole is not supported. If the latitude is within 0.1° of the north pole or south pole (90° or -90 °), this function will output GARSessionErrorCodeInvalidArgument and the anchor will fail to be created.

Details
Parameters	coordinate The latitude and longitude associated with the location, specified using the WGS84 reference frame. This must not be within .1° of the North or South pole (i.e. +- 90°). altitude Altitude in reference to the WGS 84 ellipsoid, in meters. Positive values indicate altitudes above approximate sea level. Negative values indicate altitudes below approximate sea level. eastUpSouthQAnchor Represents the quaternion from the anchor to East-Up-South (EUS) coordinates (i.e., +X points East, +Y points up, and +Z points South). error Out param for an NSError. Possible error codes: GARSessionErrorCodeIllegalState - current Geospatial mode is disabled or earth has trackingState GARTrackingStateStopped. GARSessionErrorCodeInvalidArgument - latitude is not within range.
Returns	The new anchor, or nil if there was an error.

Extends class GARSession.

createAnchorWithCoordinate:altitudeAboveRooftop:eastUpSouthQAnchor:completionHandler:error:

- (nullable GARCreateAnchorOnRooftopFuture *)createAnchorWithCoordinate:
(CLLocationCoordinate2D) coordinate
altitudeAboveRooftop:
(CLLocationDistance) altitudeAboveRooftop
eastUpSouthQAnchor:
(simd_quatf) eastUpSouthQAnchor
completionHandler:
(void(^)(GARAnchor *_Nullable anchor,                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   GARRooftopAnchorState rooftopState)) completionHandler
error:
(NSError **) error

Asynchronously creates a Rooftop anchor at the specified horizontal position and altitude relative to the horizontal position's rooftop.

See the Rooftop anchors developer guide for more information.

The specified altitudeAboveRooftop is interpreted to be relative to the top of a building at the given horizontal location, rather than relative to the WGS84 ellipsoid. If there is no building at the given location, then the altitude is interpreted to be relative to the terrain instead. Specifying an altitude of 0 will position the anchor directly on the rooftop whereas specifying a positive altitude will position the anchor above the rooftop, against the direction of gravity.

This launches an asynchronous operation used to query the Google Cloud ARCore API. See GARFuture for information on obtaining results and cancelling the operation.

You may resolve multiple anchors at a time, but a session cannot be tracking more than 100 Rooftop or Terrain anchors at time. Attempting to resolve more than 100 Rooftop or Terrain anchors will result in GARSessionErrorCodeResourceExhausted.

Latitude and longitude are defined by the WGS84 specification, and altitude values are defined as the elevation above the WGS84 ellipsoid in meters.

The rotation provided by eastUpSouthQAnchor is a rotation with respect to an east-up-south coordinate frame. An identity rotation will have the anchor oriented such that X+ points to the east, Y+ points up away from the center of the earth, and Z+ points to the south.

An anchor's GARAnchor.trackingState will be GARTrackingStateTracking while GAREarth is GARTrackingStateTracking. The tracking state will permanently become GARTrackingStateStopped if the GARSession configuration is set to GARGeospatialModeDisabled.

Creating anchors near the north pole or south pole is not supported. If the latitude is within 0.1° of the north pole or south pole (90° or -90°), this function will output GARSessionErrorCodeInvalidArgument and the anchor will fail to be created.

Details
Parameters	coordinate The latitude and longitude associated with the location, specified using the WGS84 reference frame. This must not be within .1° of the North or South pole (i.e. +- 90°). altitudeAboveRooftop Altitude above Earth's rooftop or terrain, in meters. eastUpSouthQAnchor Represents the quaternion from the anchor to East-Up-South (EUS) coordinates (i.e., +X points East, +Y points up, and +Z points South). completionHandler Completion handler to be invoked on the Main thread, if not nil. error Out param for an NSError. Possible error codes: GARSessionErrorCodeIllegalState - current Geospatial mode is disabled or earth has trackingState GARTrackingStateStopped. GARSessionErrorCodeInvalidArgument - latitude is not within range. GARSessionErrorCodeResourceExhausted - tried to create too many Rooftop or Terrain anchors.
Returns	A handle to the async operation that can be polled or cancelled.

Extends class GARSession.

createAnchorWithCoordinate:altitudeAboveTerrain:eastUpSouthQAnchor:completionHandler:error:

- (nullable GARCreateAnchorOnTerrainFuture *)createAnchorWithCoordinate:
(CLLocationCoordinate2D) coordinate
altitudeAboveTerrain:
(CLLocationDistance) altitudeAboveTerrain
eastUpSouthQAnchor:
(simd_quatf) eastUpSouthQAnchor
completionHandler:
(void(^)(GARAnchor *_Nullable anchor,                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                                   GARTerrainAnchorState terrainState)) completionHandler
error:
(NSError **) error

Asynchronously creates a Terrain anchor at a specified horizontal position and altitude relative to the horizontal position's terrain.

See the Terrain anchors developer guide for more information.

The specified altitudeAboveTerrain is interpreted to be relative to the Earth's terrain (or floor) at the specified latitude/longitude geodetic coordinates, rather than relative to the WGS-84 ellipsoid. Specifying an altitudeAboveTerrain of 0 will position the anchor directly on the terrain whereas specifying a positive altitudeAboveTerrain will position the anchor above the terrain, against the direction of gravity.

This launches an asynchronous operation used to query the Google Cloud ARCore API. See GARFuture for information on obtaining results and cancelling the operation.

You may resolve multiple anchors at a time, but a session cannot be tracking more than 100 Rooftop or Terrain anchors at time. Attempting to resolve more than 100 Rooftop or Terrain anchors will result in GARSessionErrorCodeResourceExhausted.

Latitude and longitude are defined by the WGS84 specification, and altitude values are defined as the elevation above the WGS84 ellipsoid in meters.

The rotation provided by eastUpSouthQAnchor is a rotation with respect to an east-up-south coordinate frame. An identity rotation will have the anchor oriented such that X+ points to the east, Y+ points up away from the center of the earth, and Z+ points to the south.

An anchor's GARAnchor.trackingState will be GARTrackingStateTracking while GAREarth is GARTrackingStateTracking. The tracking state will permanently become GARTrackingStateStopped if the GARSession configuration is set to GARGeospatialModeDisabled.

Creating anchors near the north pole or south pole is not supported. If the latitude is within 0.1° of the north pole or south pole (90° or -90°), this function will output GARSessionErrorCodeInvalidArgument and the anchor will fail to be created.

Details
Parameters	coordinate The latitude and longitude associated with the location, specified using the WGS84 reference frame. This must not be within .1° of the North or South pole (i.e. +- 90°). altitudeAboveTerrain Altitude above Earth's terrain, in meters. eastUpSouthQAnchor Represents the quaternion from the anchor to East-Up-South (EUS) coordinates (i.e., +X points East, +Y points up, and +Z points South). completionHandler Completion handler to be invoked on the Main thread, if not nil. error Out param for an NSError. Possible error codes: GARSessionErrorCodeIllegalState - current Geospatial mode is disabled or earth has trackingState GARTrackingStateStopped. GARSessionErrorCodeInvalidArgument - latitude is not within range. GARSessionErrorCodeResourceExhausted - tried to create too many Rooftop or Terrain anchors.
Returns	A handle to the async operation that can be polled or cancelled.

Extends class GARSession.

createAnchorWithCoordinate:altitudeAboveTerrain:eastUpSouthQAnchor:error:

- (nullable GARAnchor *)createAnchorWithCoordinate:
(CLLocationCoordinate2D) coordinate
altitudeAboveTerrain:
(CLLocationDistance) altitudeAboveTerrain
eastUpSouthQAnchor:
(simd_quatf) eastUpSouthQAnchor
error:
(NSError **
) error

Creates a Terrain anchor at the specified geodetic location, altitude relative to the horizontal position’s terrain and orientation relative to the Earth.

Terrain means the ground, or ground floor inside a building with VPS coverage.

The specified altitudeAboveTerrain is interpreted to be relative to the Earth's terrain (or floor) at the specified latitude/longitude geodetic coordinates, rather than relative to the WGS-84 ellipsoid. Specifying an altitudeAboveTerrain of 0 will position the anchor directly on the terrain (or floor) whereas specifying a positive altitudeAboveTerrain will position the anchor above the terrain (or floor), against the direction of gravity.

This function schedules a task to resolve the anchor's pose using the given parameters. You may resolve multiple anchors at a time, but a session cannot be tracking more than 100 Terrain anchors at time. Attempting to resolve more than 100 Terrain anchors will result in GARSessionErrorCodeResourceExhausted.

If this function returns error nil, the terrain anchor's GARAnchor.terrainState will be GARTerrainAnchorStateTaskInProgress, and its tracking state will be GARTrackingStatePaused. This anchor remains in this state until its pose has been successfully resolved. If the resolving task results in an error, the tracking state will be set to GARTrackingStateStopped.

Latitude and longitude are defined by the WGS84 specification, and altitude values are defined as the elevation above the WGS84 ellipsoid in meters.

The rotation provided by eastUpSouthQAnchor is a rotation with respect to an east-up-south coordinate frame. An identity rotation will have the anchor oriented such that X+ points to the east, Y+ points up away from the center of the earth, and Z+ points to the south.

An anchor's GARAnchor.trackingState will be GARTrackingStateTracking while GAREarth is GARTrackingStateTracking. The tracking state will permanently become GARTrackingStateStopped if the GARSession configuration is set to GARGeospatialModeDisabled.

Creating anchors near the north pole or south pole is not supported. If the latitude is within 0.1° of the north pole or south pole (90° or -90°), this function will output GARSessionErrorCodeInvalidArgument and the anchor will fail to be created.

Details
Parameters	coordinate The latitude and longitude associated with the location, specified using the WGS84 reference frame. This must not be within .1° of the North or South pole (i.e. +- 90°). altitudeAboveTerrain Altitude above Earth's terrain, in meters. eastUpSouthQAnchor Represents the quaternion from the anchor to East-Up-South (EUS) coordinates (i.e., +X points East, +Y points up, and +Z points South). error Out param for an NSError. Possible error codes: GARSessionErrorCodeIllegalState - current Geospatial mode is disabled or earth has trackingState GARTrackingStateStopped. GARSessionErrorCodeInvalidArgument - latitude is not within range. GARSessionErrorCodeResourceExhausted - tried to create too many Rooftop or Terrain anchors.
Returns	The new anchor, or nil if there was an error.

Extends class GARSession.

geospatialTransformFromTransform:error:

- (nullable GARGeospatialTransform *)geospatialTransformFromTransform:
(matrix_float4x4) transform
error:
(NSError **
) error

Converts the provided transform to a GARGeospatialTransform with respect to the Earth.

Its heading will be zero for a GARGeospatialTransform returned from this method.

Details
Parameters	transform The local transform in world coordinate space. error Out param for an NSError. Possible error codes: GARSessionErrorCodeIllegalState - current Geospatial mode is disabled or earth has trackingState GARTrackingStateStopped. GARSessionErrorCodeNotTracking - Earth's or Session's ARTrackingState is not GARTrackingStateTracking.
Returns	GARGeospatialTransform, or nil if there was an error.

Extends class GARSession.

isGeospatialModeSupported:

- (BOOL)isGeospatialModeSupported:
(GARGeospatialMode) geospatialMode

Determines whether the given geospatial mode is supported on the current device and OS version.

If this returns NO, then configuring the session with the given geospatial mode will fail with the error code GARSessionErrorCodeConfigurationNotSupported. A device may be incompatible with a given mode due to insufficient sensor capabilities.

Details
Parameters	geospatialMode The Geospatial mode.
Returns	YES if the geospatialMode is supported, NO otherwise.

Extends class GARSession.

raycastStreetscapeGeometry:direction:error:

- (nullable NSArray< GARStreetscapeGeometryRaycastResult * > *)raycastStreetscapeGeometry:
(simd_float3) origin
direction:
(simd_float3) direction
error:
(NSError **) error

Performs a raycast against Streetscape Geometry loaded by the scene.

The raycast result contains the transform of the hit as well as the GARStreetscapeGeometry that was hit.

Requires both GARSessionConfiguration.streetscapeGeometryMode to be set to GARStreetscapeGeometryModeEnabled and for GARSessionConfiguration.geospatialMode to be set to GARGeospatialModeEnabled.

Details
Parameters	origin World space origin of the ray. direction World space direction of the ray. error Out param for an NSError. Possible error codes: GARSessionErrorCodeIllegalState - current geospatial mode is disabled, or Streetscape Geometry mode is disabled, or earth has trackingState GARTrackingStateStopped. GARSessionErrorCodeNotTracking - Earth, Session, or the geometry's tracking state is not GARTrackingStateTracking.
Returns	The list of raycast hits, or nil if there was an error.

Extends class GARSession.

transformFromGeospatialCoordinate:altitude:eastUpSouthQTarget:error:

- (matrix_float4x4)transformFromGeospatialCoordinate:
(CLLocationCoordinate2D) coordinate
altitude:
(CLLocationDistance) altitude
eastUpSouthQTarget:
(simd_quatf) eastUpSouthQTarget
error:
(NSError **) error

Converts the provided Earth specified horizontal position, altitude and rotation with respect to an east-up-south coordinate frame to a local transform in world coordinate space.

Details
Parameters	coordinate The latitude and longitude associated with the location, specified using the WGS84 reference frame. This must not be within .1° of the North or South pole (i.e. +- 90°). altitude Altitude in reference to the WGS 84 ellipsoid, in meters. Positive values indicate altitudes above approximate sea level. Negative values indicate altitudes below approximate sea level. eastUpSouthQTarget Represents the quaternion from the target to East-Up-South (EUS) coordinates (i.e., +X points East, +Y points up, and +Z points South). error Out param for an NSError. Possible error codes: GARSessionErrorCodeIllegalState - current Geospatial mode is disabled or earth has trackingState GARTrackingStateStopped. GARSessionErrorCodeNotTracking - Earth's or Session's ARTrackingState is not GARTrackingStateTracking. GARSessionErrorCodeInvalidArgument - latitude is not within range.
Returns	a local transform in world coordinate space.

Extends class GARSession.