Package com.irurueta.ar.slam

Class AbsoluteOrientationBaseSlamCalibrator<D extends BaseCalibrationData>

java.lang.Object

com.irurueta.ar.slam.BaseSlamCalibrator<D>

com.irurueta.ar.slam.AbsoluteOrientationBaseSlamCalibrator<D>

Type Parameters:

D - type of calibration data.

Direct Known Subclasses:

AbsoluteOrientationConstantVelocityModelSlamCalibrator, AbsoluteOrientationSlamCalibrator

public abstract class AbsoluteOrientationBaseSlamCalibrator<D extends BaseCalibrationData>
extends BaseSlamCalibrator<D>

Base class for estimating mean and covariance of noise in control values when the system state is held constant (only noise is provided as control input). This subclass of BaseSlamCalibrator is used for slam estimator taking into account absolute orientation.

Nested Class Summary

Nested classes/interfaces inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

BaseSlamCalibrator.BaseSlamCalibratorListener<D extends BaseCalibrationData>

Field Summary

Fields

Modifier and Type	Field	Description
protected final com.irurueta.geometry.Quaternion	accumulatedOrientation	Average orientation accumulated since last full sample.
protected int	accumulatedOrientationSamples	Number of orientation samples accumulated since last full sample.
protected long	orientationTimestampNanos	Timestamp expressed in nanoseconds since the epoch time of the last sample containing absolute orientation.
private com.irurueta.geometry.Quaternion	tempQ	Temporary quaternion.

Fields inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

accelerometerTimestampNanos, accumulatedAccelerationSampleX, accumulatedAccelerationSampleY, accumulatedAccelerationSampleZ, accumulatedAccelerometerSamples, accumulatedAngularSpeedSampleX, accumulatedAngularSpeedSampleY, accumulatedAngularSpeedSampleZ, accumulatedGyroscopeSamples, accumulationEnabled, converged, convergenceThreshold, covDiff, DEFAULT_CONVERGENCE_THRESHOLD, DEFAULT_ENABLE_SAMPLE_ACCUMULATION, DEFAULT_MAX_NUM_SAMPLES, DEFAULT_MIN_NUM_SAMPLES, estimator, failed, finished, gyroscopeTimestampNanos, listener, maxNumSamples, meanDiff, MIN_SAMPLE_LENGTH, minNumSamples, N_COMPONENTS_3D, NANOS_TO_SECONDS, previousCovariance, previousMean, sample, sampleCount

Constructor Summary

Constructors

Modifier	Constructor	Description
protected	AbsoluteOrientationBaseSlamCalibrator(int sampleLength)	Constructor.

Method Summary

Modifier and Type	Method	Description
com.irurueta.geometry.Rotation3D	getAccumulatedOrientation()	Gets average orientation accumulated since last full sample.
void	getAccumulatedOrientation(com.irurueta.geometry.Rotation3D result)	Gets average orientation accumulated since last full sample.
int	getAccumulatedOrientationSamples()	Gets number of orientation samples accumulated since last full sample.
long	getMostRecentTimestampNanos()	Gets most recent timestamp of received partial samples (accelerometer, gyroscope or magnetic field).
long	getOrientationTimestampNanos()	Gets timestamp expressed in nanoseconds since the epoch time of the last orientation sample, or -1 if no sample has been set yet.
boolean	isFullSampleAvailable()	Indicates whether a full sample (accelerometer + gyroscope + magnetic field) has been received or not.
boolean	isOrientationSampleReceived()	Indicates whether the orientation sample has been received since last full sample (accelerometer + gyroscope + orientation).
protected void	notifyFullSampleAndResetSampleReceive()	Notifies that a full sample has been received and resets flags indicating whether partial samples have been received.
void	updateOrientationSample(long timestamp, com.irurueta.geometry.Rotation3D orientation)	Provides a new orientation sample.

Methods inherited from class com.irurueta.ar.slam.BaseSlamCalibrator

getAccelerometerTimestampNanos, getAccumulatedAccelerationSample, getAccumulatedAccelerationSample, getAccumulatedAccelerationSampleX, getAccumulatedAccelerationSampleY, getAccumulatedAccelerationSampleZ, getAccumulatedAccelerometerSamples, getAccumulatedAngularSpeedSample, getAccumulatedAngularSpeedSample, getAccumulatedAngularSpeedSampleX, getAccumulatedAngularSpeedSampleY, getAccumulatedAngularSpeedSampleZ, getAccumulatedGyroscopeSamples, getCalibrationData, getCalibrationData, getControlCovariance, getControlCovariance, getControlDistribution, getControlDistribution, getControlMean, getControlMean, getConvergenceThreshold, getEstimatorStateLength, getGyroscopeTimestampNanos, getListener, getMaxNumSamples, getMinNumSamples, getSampleCount, getSampleLength, isAccelerometerSampleReceived, isAccumulationEnabled, isConverged, isFailed, isFinished, isGyroscopeSampleReceived, processFullSample, propagateWithControlJacobian, propagateWithControlJacobian, reset, setAccumulationEnabled, setConvergenceThreshold, setListener, setMaxNumSamples, setMinNumSamples, updateAccelerometerSample, updateAccelerometerSample, updateGyroscopeSample, updateGyroscopeSample, updateSample

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details

orientationTimestampNanos

protected long orientationTimestampNanos

Timestamp expressed in nanoseconds since the epoch time of the last sample containing absolute orientation.

accumulatedOrientationSamples

protected int accumulatedOrientationSamples

Number of orientation samples accumulated since last full sample.

accumulatedOrientation

protected final com.irurueta.geometry.Quaternion accumulatedOrientation

Average orientation accumulated since last full sample.

tempQ

private com.irurueta.geometry.Quaternion tempQ

Temporary quaternion. For memory reuse.

Constructor Details

AbsoluteOrientationBaseSlamCalibrator

protected AbsoluteOrientationBaseSlamCalibrator(int sampleLength)

Constructor.

Parameters:

sampleLength - sample length of control values used during prediction stage in SLAM estimator.

Throws:

IllegalArgumentException - if sample length is less than 1.

Method Details

getOrientationTimestampNanos

public long getOrientationTimestampNanos()

Gets timestamp expressed in nanoseconds since the epoch time of the last orientation sample, or -1 if no sample has been set yet.

Returns:

timestamp expressed in nanoseconds since the epoch time of the last orientation sample, or -1.

getAccumulatedOrientation

public com.irurueta.geometry.Rotation3D getAccumulatedOrientation()

Gets average orientation accumulated since last full sample.

Returns:

orientation accumulated since last full sample.

getAccumulatedOrientation

public void getAccumulatedOrientation(com.irurueta.geometry.Rotation3D result)

Gets average orientation accumulated since last full sample.

Parameters:

result - instance where orientation accumulated since last full sample will be stored.

getAccumulatedOrientationSamples

public int getAccumulatedOrientationSamples()

Gets number of orientation samples accumulated since last full sample.

Returns:

number of orientation samples accumulated since last full sample.

isOrientationSampleReceived

public boolean isOrientationSampleReceived()

Indicates whether the orientation sample has been received since last full sample (accelerometer + gyroscope + orientation).

Returns:

true if orientation sample has been received, false otherwise.

isFullSampleAvailable

public boolean isFullSampleAvailable()

Indicates whether a full sample (accelerometer + gyroscope + magnetic field) has been received or not.

Overrides:

isFullSampleAvailable in class BaseSlamCalibrator<D extends BaseCalibrationData>

Returns:

true if full sample has been received, false otherwise.

updateOrientationSample

public void updateOrientationSample(long timestamp,
 com.irurueta.geometry.Rotation3D orientation)

Provides a new orientation sample. If accumulation is enabled, samples are averaged until a full sample is received. When a full sample (accelerometer + gyroscope + orientation) is received, internal state gets also updated.

Parameters:

timestamp - timestamp of accelerometer sample since epoch time and expressed in nanoseconds.

orientation - new orientation.

getMostRecentTimestampNanos

public long getMostRecentTimestampNanos()

Gets most recent timestamp of received partial samples (accelerometer, gyroscope or magnetic field).

Overrides:

getMostRecentTimestampNanos in class BaseSlamCalibrator<D extends BaseCalibrationData>

Returns:

most recent timestamp of received partial sample.

notifyFullSampleAndResetSampleReceive

protected void notifyFullSampleAndResetSampleReceive()

Notifies that a full sample has been received and resets flags indicating whether partial samples have been received.

Overrides:

notifyFullSampleAndResetSampleReceive in class BaseSlamCalibrator<D extends BaseCalibrationData>