←API Reference

NSDK

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Type Aliases

Name	Type	Summary
NetworkRequestId = ARDK_NetworkRequestId	ARDK_NetworkRequestId	-
NSDKCameraExtrinsics = simd_float4x4	simd_float4x4	-
NSDKCameraIntrinsics = NSDKFrameData.CameraIntrinsics	NSDKFrameData.CameraIntrinsics	-
NSDKHandle = ARDK_Handle	ARDK_Handle	A type alias for the native NSDK handle used to interface with the underlying C API.
NsdkSessionDataSource = NSDKSessionDataSource	NSDKSessionDataSource	Type alias for API compatibility.
NSDKVpsAnchorId = String	String	-

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Classes

Name	Type	Summary
AssetResult	AssetResult	Contains all the AssetInfo objects returned by a query to the Sites Manager service.
AwarenessImageResult	AwarenessImageResult	Image-based awareness result containing an NSDKImage.
AwarenessResult	AwarenessResult	Base class for awarness results such as depth and segmentation. Provides common properties like frame ID, timestamp, camera pose, and intrinsics.
BundlePlaybackDatasetLoader	BundlePlaybackDatasetLoader	A loader that retrieves playback dataset data from the app bundle. This is the default implementation for loading datasets from Bundle.main. Frame images and depth data are loaded on-demand when requested.
DataResourceOwner	DataResourceOwner	-
final DefaultSessionDataSource	DefaultSessionDataSource	Default iOS implementation of NSDKSessionDataSource backed by ARSession and CLLocationManager.
DepthResult	DepthResult	Contains depth estimation results from the NSDK depth processing system.
MeshData	MeshData	Contains 3D mesh data for rendering and visualization. MeshData provides access to 3D mesh geometry including vertices, indices, normals, and texture coordinates.
final MeshDownloaderResults	MeshDownloaderResults	Contains the downloaded mesh geometry data for a VPS location. This object holds an array of mesh results, where each result includes mesh geometry, texture data (if requested), and the transform matrix that positions the mesh in world space.
final NSDKCamera	NSDKCamera	Single camera API for both modes. Holds either ARCamera (live) or PlaybackCamera (playback) and exposes transform, viewMatrix, projectionMatrix, viewportRect, etc. Relation to Apple AR: Wraps Apple's ARCamera in live mode; wraps our PlaybackCamera in playback. Callers use NSDKCamera and don't branch. Create via NSDKCamera(arCamera:) or NSDKCamera(playbackCamera:).
final NSDKDashcamSession	NSDKDashcamSession	A session for continuous frame buffering and on-demand save functionality. The dashcam feature captures frames into a circular buffer while running. At any point, the buffer contents can be saved to disk as a V2 sequence for later playback or upload. This is useful for capturing context around events of interest without requiring the user to explicitly start recording in advance.
final NSDKDepthSession	NSDKDepthSession	Depth feature session for NSDK with Combine publisher support. Upon starting the depth session, NSDK will begin processing AR frames to generate depth data. The latest depth data can be retrieved using latestDepth(), and latestImageParams() provides information to synchronize the depth image with camera frame. $result is refreshed automatically each frame by NSDKSession.update() while the session is active. Subscribe to it with Combine: depthSession.$result .compactMap { if case .success(let result) = $0 { return result } else { return nil } } .sink { result in ... } .store(in: &cancellables)
final NSDKDeviceMappingSession	NSDKDeviceMappingSession	A session for creating VPS maps from AR data on the local device, with Combine publisher support. The device mapping feature provides capabilities for locally building persistent maps that can be used for Visual Positioning System (VPS) localization. These maps capture the visual features and spatial structure of an environment. $latestMapUpdate is refreshed automatically each frame by NSDKSession.update() while the session is active. Subscribe to it with Combine: mappingSession.$latestMapUpdate .compactMap { $0 } .sink { mapUpdate in ... } .store(in: &cancellables)
final NSDKMapStorage	NSDKMapStorage	A storage system for managing device-generated maps. The map storage feature provides capabilities for capturing, storing, and managing map data from AR sessions. This data can be persisted and used for Visual Positioning System (VPS) localization and map updates.
final NSDKMeshDownloader	NSDKMeshDownloader	A session-scoped utility for downloading mesh geometry associated with VPS locations.
final NSDKMeshingSession	NSDKMeshingSession	A session for real-time 3D mesh generation from AR camera frames, with Combine publisher support. The meshing feature provides capabilities for processing AR session data and generating a triangle mesh representation of the physical environment in real-time. The mesh is divided into chunks that are individually tracked as they are inserted, updated, or removed. meshUpdates emits each frame a non-empty batch of chunk changes is available, driven by NSDKSession.update() while the session is active. Subscribe to it with Combine: meshingSession.meshUpdates .sink { updates in ... } .store(in: &cancellables)
final NSDKRecordingExporter	NSDKRecordingExporter	A session for exporting scan recordings to various formats. NSDKRecordingExporter provides capabilities for converting saved scan data into recorderV2 format for use in Unity Playback or activating VPS.
final NSDKScanningSession	NSDKScanningSession	A session for 3D scanning and visualization with Combine publisher support. The scanning feature provides capabilities for capturing, processing, and exporting 3D scan data from AR sessions. Scans of a location can be processed by the Visual Positioning System's (VPS's) cloud services to enable VPS localization.
final NSDKSceneSegmentationSession	NSDKSceneSegmentationSession	A session for semantic segmentation and environmental understanding with Combine publisher support. NSDKSceneSegmentationSession provides capabilities for understanding the semantic structure of the environment by classifying pixels into different object categories. This enables applications to make intelligent decisions based on environmental context.
final NSDKSession	NSDKSession	The main entry point for the NSDK (Native SDK) framework. NSDKSession provides the core functionality for AR applications, managing the lifecycle of NSDK features and serving as a factory for specialized sessions like VPS2, scanning, and mapping. This class handles frame data processing, configuration management, and resource cleanup.
final NSDKSitesSession	NSDKSitesSession	-
@MainActor NSDKView	NSDKView	Single view for both live and playback. Subclasses ARView; holds either an ARSession (live) or PlaybackSession (playback) and exposes sessionMode, getCamera(), setDelegate(), setup(). Relation to Apple AR: Uses ARView; assigns either Apple's ARSession or our PlaybackSession to self.session so the view always has a "session." The app talks to NSDKView so it doesn't have to branch on live vs. playback for view, projection, viewport, or delegate callbacks.
final NSDKVps2Session	NSDKVps2Session	A session for VPS2 (Visual Positioning System) localization with Combine publisher support. NSDKVps2Session provides capabilities for localizing the device in the real world using VPS maps, universal localization, and anchor tracking. Anchors can be created at specific poses and tracked across sessions using payloads.
OrganizationResult	OrganizationResult	Contains all the OrganizationInfo objects returned by a query to the Sites Manager service.
@MainActor PlaybackBackgroundRenderer	PlaybackBackgroundRenderer	-
final PlaybackCamera	PlaybackCamera	Camera representation built from frame metadata (pose4x4, intrinsics, resolution). Exposes the same concepts as ARCamera: transform, viewMatrix, projectionMatrix, viewportRect, displayOrientedTransform. Relation to Apple AR: Stands in for ARCamera during playback. No Apple camera; we synthesize view/projection from recorded intrinsics and pose. Use PlaybackFrame.camera to obtain an instance.
PlaybackDataset	PlaybackDataset	A dataset loaded from a capture JSON file containing frame metadata. This class uses on-demand loading for frame images and depth data. Only the currently requested frame is loaded into memory, reducing memory pressure for large datasets.
PlaybackDatasetLoader	PlaybackDatasetLoader	Base class for loading playback dataset data from various sources. This class provides a base implementation that must be subclassed. Subclasses must override loadCaptureJSON(), loadImage(imageName:), loadDepthData(depthFileName:), and loadDepthConfidence(confidenceFileName:) to provide concrete implementations. The loader uses on-demand loading - only the capture JSON is loaded upfront, and frame images/depth data are loaded when requested by PlaybackDataset.
@MainActor PlaybackRenderer	PlaybackRenderer	Renders each playback frame: (1) draws the recorded camera image as the background, (2) moves the RealityKit camera (pose + FOV) to match the playback frame. PlaybackSession holds an optional reference and calls renderFrame(_:) on the main queue for every new frame. Relation to Apple AR: Manipulates RealityKit—sets arView.environment.background = .color(.clear), adds a PerspectiveCamera and AnchorEntity, and updates their transform and fieldOfViewInDegrees every frame from PlaybackCamera. In playback, ARView's default camera is off; we drive the virtual camera.
PlaybackSession	PlaybackSession	Drives playback. Subclasses ARSession so it can be assigned to ARView.session and the app can use the same delegate pattern. Runs a loop on a background queue, builds PlaybackFrame per frame from the PlaybackDataset, dispatches to the main queue, and notifies the delegate and PlaybackRenderer. Relation to Apple AR: Replaces the behavior of ARSession (no real device frames); API-compatible so ARView and delegate code don't need to know it's playback.
final PlaybackSessionDataSource	PlaybackSessionDataSource	-
RaycastBuffer	RaycastBuffer	A read-only container for the raycast buffer information generated during scanning.
SceneSegmentationResult	SceneSegmentationResult	Contains semantic segmentation results from the NSDK scene segmentation processing system. SceneSegmentationResult provides semantic understanding of the environment by classifying pixels in camera images into different object categories (e.g., sky, ground, buildings, people, vehicles). This enables applications to understand the scene structure and make intelligent decisions based on environmental context.
SiteAssetsResult	SiteAssetsResult	Contains the SiteAssetsInfo objects returned by a location-based sites query.
SiteResult	SiteResult	Contains all the SiteInfo objects returned by a query to the Sites Manager service.
SitesResult	SitesResult	Base class for results returned by queries to the Sites Manager service.
UserResult	UserResult	Contains the user information returned by a query to the Sites Manager service.
VoxelBuffer	VoxelBuffer	A read-only container for the voxel buffer information generated during scanning.
final Vps2Heading	Vps2Heading	A CLHeading subclass representing heading data computed by VPS2. VPS2 derives heading from visual-inertial localization rather than a physical magnetometer, so the raw magnetometer component values (x, y, z) are zero and not meaningful.
final Vps2Location	Vps2Location	A CLLocation subclass representing a position computed by VPS2. MSL altitude is not available from VPS2 without a geoid model conversion, so altitude always returns -1. Use ellipsoidalAltitude for the WGS84 height computed by VPS2, and verticalAccuracy (≥ 0) for its precision.

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Protocols

Name	Type	Summary
NSDKFeatureSession	NSDKFeatureSession	A protocol that defines the common lifecycle and configuration interface for NSDK feature sessions.
NSDKLogCallback : AnyObject	AnyObject	Protocol for receiving log messages from NSDK. Implement this protocol to receive NSDK log messages in your application. The callback will be invoked on background threads, so ensure your implementation is thread-safe.
NSDKSessionDataSource : AnyObject	AnyObject	Provides synchronous, pull-based access to the latest available sensor data required by NSDKSession. All methods must be non-blocking and thread-safe. Returned values represent the most recent samples already captured by the underlying services.
NSDKViewDelegate : ARSessionDelegate, PlaybackSessionDelegate	ARSessionDelegate, PlaybackSessionDelegate	-
PlaybackDatasetSource	PlaybackDatasetSource	Protocol for loading playback dataset data from various sources. This protocol abstracts data retrieval, allowing for different implementations such as bundle loading, file system loading, remote loading, or mock data for testing. Implementations are used for on-demand frame loading - the loader is passed to PlaybackDataset which calls these methods when frames are requested.
PlaybackSessionDelegate : AnyObject	AnyObject	Delegate protocol for receiving frame updates during playback (mirrors ARSessionDelegate-style callbacks).
ResourceOwner : AnyObject	AnyObject	Indicates that an object owns a resource and releases it when it is no longer needed. When no owner is present, the resource must be released explicitly rather than through Swift ARC.
UIOrientationReporter : AnyObject	AnyObject	A provider of the current UI orientation.

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Structs

Name	Type	Summary
AreaTarget	AreaTarget	Contains a CoverageArea and its associated LocalizationTarget.
AreaTargetResult	AreaTargetResult	-
ARUtils	ARUtils	Utility functions for AR and device capability detection. ARUtils provides helper methods for detecting device capabilities and AR features that are relevant to NSDK functionality.
AssetInfo	AssetInfo	Represents asset information from the Sites Manager service. Maps to proto messages AssetRecord, AssetData, and AssetComputedValues.
AssetMeshData	AssetMeshData	Mesh-specific asset data. Maps to proto message AssetMeshData.
AssetSplatData	AssetSplatData	Splat-specific asset data. Maps to proto message AssetSplatData.
AssetVpsData	AssetVpsData	VPS-specific asset data. Maps to proto message AssetVpsData.
AuthInfo	AuthInfo	Authentication information containing token claims. Contains parsed JWT claims including token string, expiration, user information, and other standard JWT fields.
AwarenessImageParams	AwarenessImageParams	Describes the camera image parameters used by awareness features.
CoverageArea	CoverageArea	Represents a geographic area where VPS localization is possible
CoverageAreaResult	CoverageAreaResult	Contains all the CoverageArea objects returned by a query to the VPS Coverage service.
GeolocationData	GeolocationData	Struct representing geolocation data including latitude, longitude, altitude, heading, and orientation.
HintImageResult	HintImageResult	Image data returned by a query to a VPS hint image URL.
ImageMath	ImageMath	Provides affine transformation utilities for image processing. All affine matrices returned by this class operate in normalized coordinates, where image space is mapped to the [0, 1] range in both axes with origin at top-left.
LocalizationTarget	LocalizationTarget	Represents a real-world point of interest that is a VPS localization target. VPS localization is more likely to succeed when a localization target is in camera view.
LocalizationTargetResult	LocalizationTargetResult	Contains all the LocalizationTarget objects returned by a query to the VPS Coverage service.
MapMetadata	MapMetadata	Structure representing the metadata of a device map for visualization and processing.
MeshDownloaderChunk	MeshDownloaderChunk	A single decoded mesh chunk from a streaming portal mesh download. Chunks are delivered incrementally via NSDKMeshDownloader/requestLocationMeshByAsset(vpsMapAssetId:latitude:longitude:getTexture:maxChunks:pollingInterval:) as each graph node finishes downloading, rather than waiting for the full download to complete.
MeshDownloaderResult	MeshDownloaderResult	Represents a single mesh result with geometry, texture, and transform data.
NSDKBuffer	NSDKBuffer	A buffer containing binary data for NSDK operations. NSDKBuffer provides a safe wrapper around binary data buffers used by various NSDK features. It handles memory management and provides convenient access to buffer data.
NSDKFeatureStatus	NSDKFeatureStatus	Status flags for NSDK features indicating their current operational state. NSDKFeatureStatus is an option set that represents various status conditions for NSDK features like VPS2, scanning, and mapping. Multiple status flags can be active simultaneously to provide detailed status information.
NSDKFrameData	NSDKFrameData	A complete frame of data captured from an AR session. NSDKFrameData encapsulates all the sensor data, images, and tracking information from a single AR frame. This includes camera images, depth data, device pose, GPS location, compass heading, and camera intrinsics.
NSDKImage	NSDKImage	Provides a view into the data buffer of an image output by the NSDK. NSDKImage provides access to image data in various formats (RGB, grayscale, depth, etc.) used by NSDK features like depth processing, semantic segmentation, and image analysis.
NSDKInputDataFlags	NSDKInputDataFlags	Flags indicating which types of input data are required by NSDK. NSDKInputDataFlags is an option set that specifies which data types should be included in frames sent to NSDK. Use getRequestedDataInputs() to determine which data is currently needed, then include only the requested data types in your frame data for optimal performance.
NSDKPathConfig	NSDKPathConfig	-
NSDKUtils	NSDKUtils	Utility functions for NSDK string management and memory handling. NSDKUtils provides helper methods for safely managing C string conversions and memory allocation when working with the NSDK C API.
nonisolated Nsdk_Vps_Anchor	Nsdk_Vps_Anchor	-
nonisolated Nsdk_Vps_AssetReceived	Nsdk_Vps_AssetReceived	-
nonisolated Nsdk_Vps_BevLocalizationUpdate	Nsdk_Vps_BevLocalizationUpdate	-
nonisolated Nsdk_Vps_CustomData	Nsdk_Vps_CustomData	-
nonisolated Nsdk_Vps_DoubleArray	Nsdk_Vps_DoubleArray	-
nonisolated Nsdk_Vps_FloatArray	Nsdk_Vps_FloatArray	-
nonisolated Nsdk_Vps_Frame	Nsdk_Vps_Frame	-
nonisolated Nsdk_Vps_GeoLocationTracking	Nsdk_Vps_GeoLocationTracking	-
nonisolated Nsdk_Vps_GraphEdgeUpdate	Nsdk_Vps_GraphEdgeUpdate	-
nonisolated Nsdk_Vps_IntArray	Nsdk_Vps_IntArray	-
nonisolated Nsdk_Vps_LocalizationStats	Nsdk_Vps_LocalizationStats	-
nonisolated Nsdk_Vps_LocalizationUpdate	Nsdk_Vps_LocalizationUpdate	-
nonisolated Nsdk_Vps_MapNodeUpdate	Nsdk_Vps_MapNodeUpdate	-
nonisolated Nsdk_Vps_MapPoint2D	Nsdk_Vps_MapPoint2D	-
nonisolated Nsdk_Vps_NetworkRequestState	Nsdk_Vps_NetworkRequestState	-
nonisolated Nsdk_Vps_Start	Nsdk_Vps_Start	-
nonisolated Nsdk_Vps_VpsConfig	Nsdk_Vps_VpsConfig	-
nonisolated Nsdk_Vps_VpsDebuggerDataEvent	Nsdk_Vps_VpsDebuggerDataEvent	-
nonisolated Nsdk_Vps_VpsSegmentTarget	Nsdk_Vps_VpsSegmentTarget	-
OrganizationInfo	OrganizationInfo	Represents organization information from the Sites Manager service.
PlaybackFrame	PlaybackFrame	One "frame" of playback: metadata (pose, intrinsics, orientation, etc.), optional camera image, optional depth. Exposes .camera → PlaybackCamera. Created by PlaybackSession and delivered to the delegate and PlaybackRenderer. Relation to Apple AR: Not an Apple type. Delivered instead of ARFrame when in playback; the app gets frame-like data (image, camera, etc.) from the delegate so app code can stay uniform.
SceneSegmentationChannels	SceneSegmentationChannels	A set of semantic channels represented as a bitmask, matching the C SDK packed-channel layout. Use this type wherever you need one or more semantic channels. It supports clean Swift syntax: let channels: SceneSegmentationChannels = [.ground, .sky] let single = SceneSegmentationChannels.grass Bit positions 0–4 correspond to the C SDK channels: Sky=0, Ground=1, NaturalGround=2, ArtificialGround=3, Grass=4.
SiteAssetsInfo	SiteAssetsInfo	A single entry in a site-assets location query result.
SiteInfo	SiteInfo	Represents site information from the Sites Manager service.
TextureUtils	TextureUtils	-
TimeoutError	TimeoutError	An error indicating that an asynchronous task timed out.
UserInfo	UserInfo	Represents user information from the Sites Manager service.
Vps2AssetTrackingData	Vps2AssetTrackingData	Pose of a VPS asset's origin in the device's AR tracking space. Content authored in the asset's coordinate space is placed with assetToTrackingTransform. Only served while the asset is fully tracked; see NSDKVps2Session/assetTrackingData(assetId:).
Vps2GeolocationData	Vps2GeolocationData	Location and heading data calculated by VPS2.
Vps2Localization	Vps2Localization	Spatial mapping between the device's AR coordinate space and real-world geolocation, as determined by VPS2.
Vps2LocalizationRequestRecord	Vps2LocalizationRequestRecord	-
Vps2LocalizedAsset	Vps2LocalizedAsset	The VPS asset the device is localized to. Identifies the asset behind the most recent successful visual localization. The device is anchored to one asset at a time; this changes when it localizes against a different asset of the site.
Vps2Pose	Vps2Pose	Pose in AR coordinate space calculated by VPS2 from a geolocation.
VpsAnchorUpdate	VpsAnchorUpdate	Contains the latest tracking information for a VPS anchor. Anchor updates are retrieved via anchorUpdate(anchorId:) and provide the most current information about an anchor's position, orientation, and tracking status. This is a snapshot of the anchor, and the latest anchor update should be used every frame.

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Enums

Name	Type	Summary
AssetDeploymentType	AssetDeploymentType	Asset deployment type. Maps to proto enum AssetDeploymentType.
AssetPipelineJobStatus	AssetPipelineJobStatus	Asset pipeline job status. Maps to proto enum AssetPipelineJobStatus.
AssetStatusType	AssetStatusType	Asset status. Maps to proto enum AssetStatusType.
AssetType	AssetType	Asset type - determines which typed asset data is present. Maps to proto enum AssetType.
AwarenessError	AwarenessError	-
ClockBase	ClockBase	Reference clock that a timestamp is measured against. Mirrors the native ARDK_ClockBase enum; the raw values must stay in sync with it.
ExportResolution	ExportResolution	Resolution option for exported scan images. When exporting a recording, this controls which image resolutions are included in the payload.
HeadingMode	HeadingMode	Controls how the heading is computed from the device's orientation.
NSDKAsyncState<Value, Error> where Error : Error	Error	Reports the state of an asynchronous NSDK operation.
NSDKError	NSDKError	Errors thrown by the NSDK API. NSDKError a subset of all the ARDK_Statuscodes returned by the C API, containing just those that can occur in the Swift environment.
NSDKLogLevel	NSDKLogLevel	Defines the available logging levels for NSDK. NSDKLogLevel controls the verbosity of logging output from the NSDK system. Logging can be configured separately for stdout, files, and callback functions.
@frozen NSDKScreenOrientation	NSDKScreenOrientation	Represents the screen orientation in the NSDK layer.
NSDKTelemetry	NSDKTelemetry	Namespace for NSDK telemetry controls.
@frozen NsdkTrackingState	NsdkTrackingState	The general quality of position tracking available when the camera captured a frame.
nonisolated Nsdk_Vps_AnchorEventType	Nsdk_Vps_AnchorEventType	-
nonisolated Nsdk_Vps_AnchorTrackingState	Nsdk_Vps_AnchorTrackingState	-
nonisolated Nsdk_Vps_AnchorTrackingStateReason	Nsdk_Vps_AnchorTrackingStateReason	-
nonisolated Nsdk_Vps_BevLocalizationMethod	Nsdk_Vps_BevLocalizationMethod	-
nonisolated Nsdk_Vps_GraphEdgeEventType	Nsdk_Vps_GraphEdgeEventType	-
nonisolated Nsdk_Vps_GraphEdgeType	Nsdk_Vps_GraphEdgeType	-
nonisolated Nsdk_Vps_LocalizationMethod	Nsdk_Vps_LocalizationMethod	-
nonisolated Nsdk_Vps_LocalizationStatus	Nsdk_Vps_LocalizationStatus	-
nonisolated Nsdk_Vps_MapNodeEventType	Nsdk_Vps_MapNodeEventType	-
nonisolated Nsdk_Vps_MapNodeSourceDevice	Nsdk_Vps_MapNodeSourceDevice	-
nonisolated Nsdk_Vps_MapNodeType	Nsdk_Vps_MapNodeType	-
nonisolated Nsdk_Vps_NetworkError	Nsdk_Vps_NetworkError	-
nonisolated Nsdk_Vps_NetworkRequestStatus	Nsdk_Vps_NetworkRequestStatus	-
nonisolated Nsdk_Vps_NetworkRequestType	Nsdk_Vps_NetworkRequestType	-
nonisolated Nsdk_Vps_Orientation	Nsdk_Vps_Orientation	-
nonisolated Nsdk_Vps_TrackingState	Nsdk_Vps_TrackingState	-
PlaybackDatasetConstants	PlaybackDatasetConstants	Constants for playback dataset file names and extensions.
TypedAssetData	TypedAssetData	Discriminated union for typed asset data. One of mesh, splat, or vps will be set based on the asset type.
Vps2LocalizationError	Vps2LocalizationError	Possible errors from VPS localization operations.
Vps2LocalizationRequestStatus	Vps2LocalizationRequestStatus	Status of a network request.
Vps2LocalizationRequestType	Vps2LocalizationRequestType	-
Vps2TrackingState	Vps2TrackingState	-

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Methods

Name	Type	Summary
playbackSession	void	Called on the main queue when the tracking state changes (e.g. at start of playback). For playback, state is typically .normal.

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