Package com.irurueta.ar.slam

Class AbsoluteOrientationSlamEstimatorTest

java.lang.Object
com.irurueta.ar.slam.AbsoluteOrientationSlamEstimatorTest
All Implemented Interfaces:
BaseSlamEstimator.BaseSlamEstimatorListener<AbsoluteOrientationSlamCalibrationData>
class AbsoluteOrientationSlamEstimatorTest extends Object implements BaseSlamEstimator.BaseSlamEstimatorListener<AbsoluteOrientationSlamCalibrationData>

  • Field Details

    • TIMES

      private static final int TIMES
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    • ABSOLUTE_ERROR

      private static final double ABSOLUTE_ERROR
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    • MILLIS_TO_NANOS

      private static final int MILLIS_TO_NANOS
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    • DELTA_NANOS

      private static final int DELTA_NANOS
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    • DELTA_SECONDS

      private static final double DELTA_SECONDS
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    • VELOCITY_GAIN

      private static final double VELOCITY_GAIN
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    • REPEAT_TIMES

      private static final int REPEAT_TIMES
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    • N_PREDICTION_SAMPLES

      private static final int N_PREDICTION_SAMPLES
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    • ACCELERATION_NOISE_STANDARD_DEVIATION

      private static final double ACCELERATION_NOISE_STANDARD_DEVIATION
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    • ANGULAR_SPEED_NOISE_STANDARD_DEVIATION

      private static final double ANGULAR_SPEED_NOISE_STANDARD_DEVIATION
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    • ORIENTATION_NOISE_STANDARD_DEVIATION

      private static final double ORIENTATION_NOISE_STANDARD_DEVIATION
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    • REQUIRED_PREDICTION_SUCCESS_RATE

      private static final double REQUIRED_PREDICTION_SUCCESS_RATE
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    • REQUIRED_PREDICTION_WITH_CALIBRATION_SUCCESS_RATE

      private static final double REQUIRED_PREDICTION_WITH_CALIBRATION_SUCCESS_RATE
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    • MIN_CALIBRATION_OFFSET

      private static final float MIN_CALIBRATION_OFFSET
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    • MAX_CALIBRATION_OFFSET

      private static final float MAX_CALIBRATION_OFFSET
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    • MAX_CALIBRATION_SAMPLES

      private static final int MAX_CALIBRATION_SAMPLES
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    • fullSampleReceived

      private int fullSampleReceived

    • fullSampleProcessed

      private int fullSampleProcessed

    • correctWithPositionMeasure

      private int correctWithPositionMeasure

    • correctedWithPositionMeasure

      private int correctedWithPositionMeasure

  • Constructor Details

    • AbsoluteOrientationSlamEstimatorTest

      AbsoluteOrientationSlamEstimatorTest()

  • Method Details

    • testConstructor

      @Test void testConstructor() throws com.irurueta.algebra.WrongSizeException
      Throws:
      com.irurueta.algebra.WrongSizeException

    • testGetSetListener

      @Test void testGetSetListener()

    • testGetSetCalibrationData

      @Test void testGetSetCalibrationData()

    • testResetPosition

      @Test void testResetPosition()

    • testResetVelocity

      @Test void testResetVelocity()

    • testResetPositionAndVelocity

      @Test void testResetPositionAndVelocity()

    • testResetAcceleration

      @Test void testResetAcceleration()

    • testResetOrientation

      @Test void testResetOrientation()

    • testResetAngularSpeed

      @Test void testResetAngularSpeed()

    • testReset

      @Test void testReset()

    • testGetStatePositionX

      @Test void testGetStatePositionX()

    • testGetStatePositionY

      @Test void testGetStatePositionY()

    • testGetStatePositionZ

      @Test void testGetStatePositionZ()

    • testGetStatePosition

      @Test void testGetStatePosition()

    • testGetStateVelocityX

      @Test void testGetStateVelocityX()

    • testGetStateVelocityY

      @Test void testGetStateVelocityY()

    • testGetStateVelocityZ

      @Test void testGetStateVelocityZ()

    • testGetStateVelocity

      @Test void testGetStateVelocity()

    • testGetStateAccelerationX

      @Test void testGetStateAccelerationX()

    • testGetStateAccelerationY

      @Test void testGetStateAccelerationY()

    • testGetStateAccelerationZ

      @Test void testGetStateAccelerationZ()

    • testGetStateAcceleration

      @Test void testGetStateAcceleration()

    • testGetStateQuaternionA

      @Test void testGetStateQuaternionA()

    • testGetStateQuaternionB

      @Test void testGetStateQuaternionB()

    • testGetStateQuaternionC

      @Test void testGetStateQuaternionC()

    • testGetStateQuaternionD

      @Test void testGetStateQuaternionD()

    • testGetStateQuaternionArray

      @Test void testGetStateQuaternionArray()

    • testGetStateQuaternion

      @Test void testGetStateQuaternion()

    • testGetStateAngularSpeedX

      @Test void testGetStateAngularSpeedX()

    • testGetStateAngularSpeedY

      @Test void testGetStateAngularSpeedY()

    • testGetStateAngularSpeedZ

      @Test void testGetStateAngularSpeedZ()

    • testGetStateAngularSpeed

      @Test void testGetStateAngularSpeed()

    • testHasError

      @Test void testHasError()

    • testIsAccumulationEnabled

      @Test void testIsAccumulationEnabled()

    • testGetAccelerometerTimestampNanos

      @Test void testGetAccelerometerTimestampNanos()

    • testGetGyroscopeTimestampNanos

      @Test void testGetGyroscopeTimestampNanos()

    • testGetOrientationTimestampNanos

      @Test void testGetOrientationTimestampNanos()

    • testGetAccumulatedAccelerometerSamplesAndIsAccelerometerSampleReceived

      @Test void testGetAccumulatedAccelerometerSamplesAndIsAccelerometerSampleReceived()

    • testGetAccumulatedGyroscopeSamplesAndIsGyroscopeSampleReceived

      @Test void testGetAccumulatedGyroscopeSamplesAndIsGyroscopeSampleReceived()

    • testGetAccumulatedOrientationAndIsOrientationSampleReceived

      @Test void testGetAccumulatedOrientationAndIsOrientationSampleReceived()

    • testIsFullSampleAvailable

      @Test void testIsFullSampleAvailable()

    • testGetAccumulatedAccelerationSampleX

      @Test void testGetAccumulatedAccelerationSampleX()

    • testGetAccumulatedAccelerationSampleY

      @Test void testGetAccumulatedAccelerationSampleY()

    • testGetAccumulatedAccelerationSampleZ

      @Test void testGetAccumulatedAccelerationSampleZ()

    • testGetAccumulatedAccelerationSample

      @Test void testGetAccumulatedAccelerationSample()

    • testGetAccumulatedAngularSpeedSampleX

      @Test void testGetAccumulatedAngularSpeedSampleX()

    • testGetAccumulatedAngularSpeedSampleY

      @Test void testGetAccumulatedAngularSpeedSampleY()

    • testGetAccumulatedAngularSpeedSampleZ

      @Test void testGetAccumulatedAngularSpeedSampleZ()

    • testGetAccumulatedAngularSpeedSample

      @Test void testGetAccumulatedAngularSpeedSample()

    • testUpdateAccelerometerSampleWithAccumulationDisabled

      @Test void testUpdateAccelerometerSampleWithAccumulationDisabled()

    • testUpdateAccelerometerSampleWithAccumulationEnabled

      @Test void testUpdateAccelerometerSampleWithAccumulationEnabled()

    • testUpdateGyroscopeSampleWithAccumulationDisabled

      @Test void testUpdateGyroscopeSampleWithAccumulationDisabled()

    • testUpdateGyroscopeSampleWithAccumulationEnabled

      @Test void testUpdateGyroscopeSampleWithAccumulationEnabled()

    • testUpdateOrientationSampleWithAccumulationDisabled

      @Test void testUpdateOrientationSampleWithAccumulationDisabled()

    • testUpdateOrientationSampleWithAccumulationEnabled

      @Test void testUpdateOrientationSampleWithAccumulationEnabled()

    • testGetMostRecentTimestampNanos

      @Test void testGetMostRecentTimestampNanos()

    • testCorrectWithPositionMeasureCoordinatesAndCovariance

      @Test void testCorrectWithPositionMeasureCoordinatesAndCovariance() throws com.irurueta.algebra.AlgebraException
      Throws:
      com.irurueta.algebra.AlgebraException

    • testCorrectWithPositionMeasureArrayAndCovariance

      @Test void testCorrectWithPositionMeasureArrayAndCovariance() throws com.irurueta.algebra.AlgebraException
      Throws:
      com.irurueta.algebra.AlgebraException

    • testCorrectWithPositionMeasurePointAndCovariance

      @Test void testCorrectWithPositionMeasurePointAndCovariance() throws com.irurueta.algebra.AlgebraException
      Throws:
      com.irurueta.algebra.AlgebraException

    • testGetSetPositionCovarianceMatrix

      @Test void testGetSetPositionCovarianceMatrix() throws com.irurueta.algebra.AlgebraException
      Throws:
      com.irurueta.algebra.AlgebraException

    • testCorrectWithPositionMeasureCoordinatesWithoutCovariance

      @Test void testCorrectWithPositionMeasureCoordinatesWithoutCovariance() throws com.irurueta.algebra.AlgebraException
      Throws:
      com.irurueta.algebra.AlgebraException

    • testCorrectWithPositionMeasureArrayWithoutCovariance

      @Test void testCorrectWithPositionMeasureArrayWithoutCovariance() throws com.irurueta.algebra.AlgebraException
      Throws:
      com.irurueta.algebra.AlgebraException

    • testCorrectWithPositionMeasurePointWithoutCovariance

      @Test void testCorrectWithPositionMeasurePointWithoutCovariance() throws com.irurueta.algebra.AlgebraException
      Throws:
      com.irurueta.algebra.AlgebraException

    • testCreateCalibrator

      @Test void testCreateCalibrator()

    • testPredictionNoMotionWithNoise

      @Test void testPredictionNoMotionWithNoise()

    • testPredictionConstantSpeedWithNoise

      @Test void testPredictionConstantSpeedWithNoise()

    • testPredictionConstantAccelerationWithNoise

      @Test void testPredictionConstantAccelerationWithNoise()

    • testPredictionRotationOnlyWithNoise

      @Test void testPredictionRotationOnlyWithNoise()

    • testPredictionVariableAccelerationWithNoise

      @Test void testPredictionVariableAccelerationWithNoise()

    • testPredictionVariableAngularSpeedWithNoise

      @Test void testPredictionVariableAngularSpeedWithNoise()

    • testPredictionWithNoiseAndInitialState

      @Test void testPredictionWithNoiseAndInitialState()

    • testPredictionVariableAccelerationWithNoiseAndInitialState

      @Test void testPredictionVariableAccelerationWithNoiseAndInitialState()

    • testPredictionVariableAngularSpeedWithNoiseAndInitialState

      @Test void testPredictionVariableAngularSpeedWithNoiseAndInitialState()

    • testPredictionRandomAccelerationAndAngularSpeedWithNoise

      @Test void testPredictionRandomAccelerationAndAngularSpeedWithNoise()

    • testPredictionNoMotionWithNoiseAndCalibration

      @Test void testPredictionNoMotionWithNoiseAndCalibration()

    • testPredictionConstantSpeedWithNoiseAndCalibration

      @Test void testPredictionConstantSpeedWithNoiseAndCalibration()

    • testPredictionConstantAccelerationWithNoiseAndCalibration

      @Test void testPredictionConstantAccelerationWithNoiseAndCalibration()

    • testPredictionRotationOnlyWithNoiseAndCalibration

      @Test void testPredictionRotationOnlyWithNoiseAndCalibration()

    • testPredictionVariableAccelerationWithNoiseAndCalibration

      @Test void testPredictionVariableAccelerationWithNoiseAndCalibration()

    • testPredictionVariableAngularSpeedWithNoiseAndCalibration

      @Test void testPredictionVariableAngularSpeedWithNoiseAndCalibration()

    • testSerializeDeserialize

      @Test void testSerializeDeserialize() throws com.irurueta.algebra.WrongSizeException, IOException, ClassNotFoundException
      Throws:
      com.irurueta.algebra.WrongSizeException
      IOException
      ClassNotFoundException

    • onFullSampleReceived

      public void onFullSampleReceived(BaseSlamEstimator<AbsoluteOrientationSlamCalibrationData> estimator)
      Specified by:
      onFullSampleReceived in interface BaseSlamEstimator.BaseSlamEstimatorListener<AbsoluteOrientationSlamCalibrationData>

    • onFullSampleProcessed

      public void onFullSampleProcessed(BaseSlamEstimator<AbsoluteOrientationSlamCalibrationData> estimator)
      Specified by:
      onFullSampleProcessed in interface BaseSlamEstimator.BaseSlamEstimatorListener<AbsoluteOrientationSlamCalibrationData>

    • onCorrectWithPositionMeasure

      public void onCorrectWithPositionMeasure(BaseSlamEstimator<AbsoluteOrientationSlamCalibrationData> estimator)
      Specified by:
      onCorrectWithPositionMeasure in interface BaseSlamEstimator.BaseSlamEstimatorListener<AbsoluteOrientationSlamCalibrationData>

    • onCorrectedWithPositionMeasure

      public void onCorrectedWithPositionMeasure(BaseSlamEstimator<AbsoluteOrientationSlamCalibrationData> estimator)
      Specified by:
      onCorrectedWithPositionMeasure in interface BaseSlamEstimator.BaseSlamEstimatorListener<AbsoluteOrientationSlamCalibrationData>

    • reset

      private void reset()

    • createFinishedCalibrator

      private static AbsoluteOrientationSlamCalibrator createFinishedCalibrator(float accelerationOffsetX, float accelerationOffsetY, float accelerationOffsetZ, float angularOffsetX, float angularOffsetY, float angularOffsetZ, com.irurueta.statistics.GaussianRandomizer noiseRandomizer)