java.lang.Object

com.irurueta.ar.slam.VelocityPredictor

public class VelocityPredictor extends Object

Utility class to predict velocity of device.

Field Summary

Fields

Modifier and Type

Field

Description

static final int

ACCELERATION_COMPONENTS

Number of components of acceleration.

static final int

SPEED_COMPONENTS

Number of components of speed.
Constructor Summary

Constructors

Modifier

Constructor

Description

private

VelocityPredictor()

Constructor.
Method Summary

Modifier and Type

Method

Description

static double[]

predict(double[] v, double[] a, double dt)

Predicts the updated velocity.

static void

predict(double[] v, double[] a, double dt, double[] result)

Predicts the updated velocity.

static void

predict(double[] v, double[] a, double dt, double[] result, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated velocity.

static double[]

predict(double[] v, double[] a, double dt, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated velocity.

static double[]

predict(double vx, double vy, double vz, double ax, double ay, double az, double dt)

Predicts the updated velocity.

static void

predict(double vx, double vy, double vz, double ax, double ay, double az, double dt, double[] result)

Predicts the updated velocity.

static void

predict(double vx, double vy, double vz, double ax, double ay, double az, double dt, double[] result, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated velocity.

static double[]

predict(double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated velocity.

static double[]

predictWithVelocityAdjustment(double[] v, double[] dv, double[] a, double dt)

Predicts the updated velocity.

static void

predictWithVelocityAdjustment(double[] v, double[] dv, double[] a, double dt, double[] result)

Predicts the updated velocity.

static void

predictWithVelocityAdjustment(double[] v, double[] dv, double[] a, double dt, double[] result, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianDV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated velocity.

static double[]

predictWithVelocityAdjustment(double[] v, double[] dv, double[] a, double dt, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianDV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated velocity.

static double[]

predictWithVelocityAdjustment(double vx, double vy, double vz, double dvx, double dvy, double dvz, double ax, double ay, double az, double dt)

Predicts the updated velocity.

static void

predictWithVelocityAdjustment(double vx, double vy, double vz, double dvx, double dvy, double dvz, double ax, double ay, double az, double dt, double[] result)

Predicts the updated velocity.

static void

predictWithVelocityAdjustment(double vx, double vy, double vz, double dvx, double dvy, double dvz, double ax, double ay, double az, double dt, double[] result, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianDV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated velocity.

static double[]

predictWithVelocityAdjustment(double vx, double vy, double vz, double dvx, double dvy, double dvz, double ax, double ay, double az, double dt, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianDV, com.irurueta.algebra.Matrix jacobianA)

Predicts the updated velocity.

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details
- SPEED_COMPONENTS
  
  public static final int SPEED_COMPONENTS
  
  Number of components of speed.
  See Also:
  
  Constant Field Values
- ACCELERATION_COMPONENTS
  
  public static final int ACCELERATION_COMPONENTS
  
  Number of components of acceleration.
  See Also:
  
  Constant Field Values
Constructor Details
- VelocityPredictor
  
  private VelocityPredictor()
  
  Constructor.
Method Details
- predict
  
  public static void predict(double vx, double vy, double vz, double ax, double ay, double az, double dt, double[] result, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated velocity.
  Parameters:
  
  vx - current velocity in x-axis. Expressed in m/s.
  
  vy - current velocity in y-axis. Expressed in m/s.
  
  vz - current velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated velocity is stored. Must have length 3.
  
  jacobianV - jacobian wrt velocity. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size or if result does not have length 3.
  
  See Also:
  
  vpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(double vx, double vy, double vz, double ax, double ay, double az, double dt, double[] result)
  
  Predicts the updated velocity.
  Parameters:
  
  vx - current velocity in x-axis. Expressed in m/s.
  
  vy - current velocity in y-axis. Expressed in m/s.
  
  vz - current velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated velocity is stored.
  
  Throws:
  
  IllegalArgumentException - if result does not have length 3.
  
  See Also:
  
  vpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(double[] v, double[] a, double dt, double[] result, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated velocity.
  Parameters:
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated velocity is stored.
  
  jacobianV - jacobian wrt velocity. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size or if v, a or result do not have length 3.
  
  See Also:
  
  vpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static void predict(double[] v, double[] a, double dt, double[] result)
  
  Predicts the updated velocity.
  Parameters:
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated velocity is stored.
  
  Throws:
  
  IllegalArgumentException - if v, a or result do not have length 3.
  
  See Also:
  
  vpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static double[] predict(double vx, double vy, double vz, double ax, double ay, double az, double dt, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated velocity.
  Parameters:
  
  vx - current velocity in x-axis. Expressed in m/s.
  
  vy - current velocity in y-axis. Expressed in m/s.
  
  vz - current velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianV - jacobian wrt velocity. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new instance containing updated velocity.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
  
  See Also:
  
  vpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static double[] predict(double vx, double vy, double vz, double ax, double ay, double az, double dt)
  
  Predicts the updated velocity.
  Parameters:
  
  vx - current velocity in x-axis. Expressed in m/s.
  
  vy - current velocity in y-axis. Expressed in m/s.
  
  vz - current velocity in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new instance containing updated velocity.
  
  See Also:
  
  vpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static double[] predict(double[] v, double[] a, double dt, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated velocity.
  Parameters:
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianV - jacobian wrt velocity. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new instance containing updated velocity.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size or if v or a do not have length 3.
  
  See Also:
  
  vpredict.m at https://github.com/joansola/slamtb
- predict
  
  public static double[] predict(double[] v, double[] a, double dt)
  
  Predicts the updated velocity.
  Parameters:
  
  v - array containing 3 components of velocity. Expressed in m/s. Must have length 3.
  
  a - array containing 3 components of acceleration. Expressed in m/s^2. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new instance containing updated velocity.
  
  Throws:
  
  IllegalArgumentException - if a or v do not have length 3.
  
  See Also:
  
  vpredict.m at https://github.com/joansola/slamtb
- predictWithVelocityAdjustment
  
  public static void predictWithVelocityAdjustment(double vx, double vy, double vz, double dvx, double dvy, double dvz, double ax, double ay, double az, double dt, double[] result, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianDV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated velocity.
  
  Parameters:
  
  vx - current velocity in x-axis. Expressed in m/s.
  
  vy - current velocity in y-axis. Expressed in m/s.
  
  vz - current velocity in z-axis. Expressed in m/s.
  
  dvx - velocity adjustment in x-axis. Expressed in m/s.
  
  dvy - velocity adjustment in y-axis. Expressed in m/s.
  
  dvz - velocity adjustment in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated velocity is stored. Must have length 3.
  
  jacobianV - jacobian wrt velocity. Must be 3x3.
  
  jacobianDV - jacobian wrt velocity adjustment. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size or if result does not have length 3.
- predictWithVelocityAdjustment
  
  public static void predictWithVelocityAdjustment(double vx, double vy, double vz, double dvx, double dvy, double dvz, double ax, double ay, double az, double dt, double[] result)
  
  Predicts the updated velocity.
  
  Parameters:
  
  vx - current velocity in x-axis. Expressed in m/s.
  
  vy - current velocity in y-axis. Expressed in m/s.
  
  vz - current velocity in z-axis. Expressed in m/s.
  
  dvx - velocity adjustment in x-axis. Expressed in m/s.
  
  dvy - velocity adjustment in y-axis. Expressed in m/s.
  
  dvz - velocity adjustment in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated velocity is stored. Must have length 3.
  
  Throws:
  
  IllegalArgumentException - if result does not have length 3.
- predictWithVelocityAdjustment
  
  public static void predictWithVelocityAdjustment(double[] v, double[] dv, double[] a, double dt, double[] result, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianDV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated velocity.
  
  Parameters:
  
  v - current velocity (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  dv - velocity adjustment (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  a - acceleration (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated velocity is stored. Must have length 3.
  
  jacobianV - jacobian wrt velocity. Must be 3x3.
  
  jacobianDV - jacobian wrt velocity adjustment. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size, or if result "v", "dv" or "a" do not have length 3.
- predictWithVelocityAdjustment
  
  public static void predictWithVelocityAdjustment(double[] v, double[] dv, double[] a, double dt, double[] result)
  
  Predicts the updated velocity.
  
  Parameters:
  
  v - current velocity (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  dv - velocity adjustment (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  a - acceleration (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  result - instance where updated velocity is stored. Must have length 3.
  
  Throws:
  
  IllegalArgumentException - if v, dv, a or result do not have length 3.
- predictWithVelocityAdjustment
  
  public static double[] predictWithVelocityAdjustment(double vx, double vy, double vz, double dvx, double dvy, double dvz, double ax, double ay, double az, double dt, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianDV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated velocity.
  
  Parameters:
  
  vx - current velocity in x-axis. Expressed in m/s.
  
  vy - current velocity in y-axis. Expressed in m/s.
  
  vz - current velocity in z-axis. Expressed in m/s.
  
  dvx - velocity adjustment in x-axis. Expressed in m/s.
  
  dvy - velocity adjustment in y-axis. Expressed in m/s.
  
  dvz - velocity adjustment in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianV - jacobian wrt velocity. Must be 3x3.
  
  jacobianDV - jacobian wrt velocity adjustment. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new array containing updated velocity.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size.
- predictWithVelocityAdjustment
  
  public static double[] predictWithVelocityAdjustment(double vx, double vy, double vz, double dvx, double dvy, double dvz, double ax, double ay, double az, double dt)
  
  Predicts the updated velocity.
  
  Parameters:
  
  vx - current velocity in x-axis. Expressed in m/s.
  
  vy - current velocity in y-axis. Expressed in m/s.
  
  vz - current velocity in z-axis. Expressed in m/s.
  
  dvx - velocity adjustment in x-axis. Expressed in m/s.
  
  dvy - velocity adjustment in y-axis. Expressed in m/s.
  
  dvz - velocity adjustment in z-axis. Expressed in m/s.
  
  ax - acceleration in x-axis. Expressed in m/s^2.
  
  ay - acceleration in y-axis. Expressed in m/s^2.
  
  az - acceleration in z-axis. Expressed in m/s^2.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new array containing updated velocity.
- predictWithVelocityAdjustment
  
  public static double[] predictWithVelocityAdjustment(double[] v, double[] dv, double[] a, double dt, com.irurueta.algebra.Matrix jacobianV, com.irurueta.algebra.Matrix jacobianDV, com.irurueta.algebra.Matrix jacobianA)
  
  Predicts the updated velocity.
  
  Parameters:
  
  v - current velocity (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  dv - velocity adjustment (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  a - acceleration (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  jacobianV - jacobian wrt velocity. Must be 3x3.
  
  jacobianDV - jacobian wrt velocity adjustment. Must be 3x3.
  
  jacobianA - jacobian wrt acceleration. Must be 3x3.
  
  Returns:
  
  a new array containing updated velocity.
  
  Throws:
  
  IllegalArgumentException - if any of provided jacobians does not have proper size, or if "v", "dv" or "a" do not have length 3.
- predictWithVelocityAdjustment
  
  public static double[] predictWithVelocityAdjustment(double[] v, double[] dv, double[] a, double dt)
  
  Predicts the updated velocity.
  
  Parameters:
  
  v - current velocity (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  dv - velocity adjustment (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  a - acceleration (in x,y,z axes). Expressed in m/s. Must have length 3.
  
  dt - time interval to compute prediction expressed in seconds.
  
  Returns:
  
  a new array containing updated velocity.
  
  Throws:
  
  IllegalArgumentException - if v, dv or a do not have length 3.

Class VelocityPredictor

Field Summary

Constructor Summary

Method Summary

Methods inherited from class java.lang.Object

Field Details

SPEED_COMPONENTS

ACCELERATION_COMPONENTS

Constructor Details

VelocityPredictor

Method Details

predict

predict

predict

predict

predict

predict

predict

predict

predictWithVelocityAdjustment

predictWithVelocityAdjustment

predictWithVelocityAdjustment

predictWithVelocityAdjustment

predictWithVelocityAdjustment

predictWithVelocityAdjustment

predictWithVelocityAdjustment

predictWithVelocityAdjustment