Package com.irurueta.ar.slam

Class ConstantVelocityModelSlamCalibratorTest

java.lang.Object

com.irurueta.ar.slam.ConstantVelocityModelSlamCalibratorTest

All Implemented Interfaces:

BaseSlamCalibrator.BaseSlamCalibratorListener<ConstantVelocityModelSlamCalibrationData>

class ConstantVelocityModelSlamCalibratorTest
extends Object
implements BaseSlamCalibrator.BaseSlamCalibratorListener<ConstantVelocityModelSlamCalibrationData>

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	calibratorFinished
private static final int	DELTA_NANOS
private static final double	DELTA_SECONDS
private int	fullSampleProcessed
private int	fullSampleReceived
private static final double	LARGE_ABSOLUTE_ERROR
private static final float	MAX_OFFSET
private static final int	MILLIS_TO_NANOS
private static final float	MIN_OFFSET
private static final int	N_SAMPLES
private static final float	NOISE_DEVIATION
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
ConstantVelocityModelSlamCalibratorTest()

Method Summary

Modifier and Type	Method	Description
void	onCalibratorFinished(BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData> calibrator, boolean converged, boolean failed)
void	onFullSampleProcessed(BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData> calibrator)
void	onFullSampleReceived(BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData> calibrator)
private void	reset()
(package private) void	testCalibrationConvergence()
(package private) void	testCalibrationWithOffset()
(package private) void	testCalibrationWithoutOffset()
(package private) void	testConstructor()
(package private) void	testGetAccelerometerTimestampNanos()
(package private) void	testGetAccumulatedAccelerationSample()
(package private) void	testGetAccumulatedAccelerationSampleX()
(package private) void	testGetAccumulatedAccelerationSampleY()
(package private) void	testGetAccumulatedAccelerationSampleZ()
(package private) void	testGetAccumulatedAccelerometerSamplesAndIsAccelerometerSampleReceived()
(package private) void	testGetAccumulatedAngularSpeedSample()
(package private) void	testGetAccumulatedAngularSpeedSampleX()
(package private) void	testGetAccumulatedAngularSpeedSampleY()
(package private) void	testGetAccumulatedAngularSpeedSampleZ()
(package private) void	testGetAccumulatedGyroscopeSamples()
(package private) void	testGetCalibrationData()
(package private) void	testGetControlCovariance()
(package private) void	testGetControlDistribution()
(package private) void	testGetControlMean()
(package private) void	testGetGyroscopeTimestampNanos()
(package private) void	testGetMostRecentTimestampNanos()
(package private) void	testGetSampleCount()
(package private) void	testGetSetConvergenceThreshold()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxNumSamples()
(package private) void	testGetSetMinNumSamples()
(package private) void	testIsConverged()
(package private) void	testIsFailed()
(package private) void	testIsFinished()
(package private) void	testIsFullSampleAvailable()
(package private) void	testIsSetAccumulationEnabled()
(package private) void	testPropagateWithControlJacobian()
(package private) void	testReset()
(package private) void	testUpdateAccelerometerSampleWithAccumulationDisabled()
(package private) void	testUpdateAccelerometerSampleWithAccumulationEnabled()
(package private) void	testUpdateGyroscopeSampleWithAccumulationDisabled()
(package private) void	testUpdateGyroscopeSampleWithAccumulationEnabled()

Methods inherited from class java.lang.Object

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

Field Details

TIMES

private static final int TIMES

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

MIN_OFFSET

private static final float MIN_OFFSET

See Also:

• Constant Field Values

MAX_OFFSET

private static final float MAX_OFFSET

See Also:

• Constant Field Values

NOISE_DEVIATION

private static final float NOISE_DEVIATION

See Also:

• Constant Field Values

N_SAMPLES

private static final int N_SAMPLES

See Also:

• Constant Field Values

MILLIS_TO_NANOS

private static final int MILLIS_TO_NANOS

See Also:

• Constant Field Values

DELTA_NANOS

private static final int DELTA_NANOS

See Also:

• Constant Field Values

DELTA_SECONDS

private static final double DELTA_SECONDS

See Also:

• Constant Field Values

fullSampleReceived

private int fullSampleReceived

fullSampleProcessed

private int fullSampleProcessed

calibratorFinished

private int calibratorFinished

Constructor Details

ConstantVelocityModelSlamCalibratorTest

ConstantVelocityModelSlamCalibratorTest()

Method Details

testConstructor

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

Throws:

com.irurueta.algebra.WrongSizeException

testIsConverged

@Test
void testIsConverged()

testIsFailed

@Test
void testIsFailed()

testIsFinished

@Test
void testIsFinished()

testGetSampleCount

@Test
void testGetSampleCount()

testGetSetMinNumSamples

@Test
void testGetSetMinNumSamples()

testGetSetMaxNumSamples

@Test
void testGetSetMaxNumSamples()

testGetSetConvergenceThreshold

@Test
void testGetSetConvergenceThreshold()

testReset

@Test
void testReset()
        throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testIsSetAccumulationEnabled

@Test
void testIsSetAccumulationEnabled()

testGetAccelerometerTimestampNanos

@Test
void testGetAccelerometerTimestampNanos()

testGetGyroscopeTimestampNanos

@Test
void testGetGyroscopeTimestampNanos()

testGetAccumulatedAccelerometerSamplesAndIsAccelerometerSampleReceived

@Test
void testGetAccumulatedAccelerometerSamplesAndIsAccelerometerSampleReceived()

testGetAccumulatedGyroscopeSamples

@Test
void testGetAccumulatedGyroscopeSamples()

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()

testGetMostRecentTimestampNanos

@Test
void testGetMostRecentTimestampNanos()

testGetSetListener

@Test
void testGetSetListener()

testGetControlMean

@Test
void testGetControlMean()

testGetControlCovariance

@Test
void testGetControlCovariance()
                       throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testGetControlDistribution

@Test
void testGetControlDistribution()
                         throws com.irurueta.statistics.InvalidCovarianceMatrixException

Throws:

com.irurueta.statistics.InvalidCovarianceMatrixException

testGetCalibrationData

@Test
void testGetCalibrationData()

testPropagateWithControlJacobian

@Test
void testPropagateWithControlJacobian()
                               throws com.irurueta.algebra.WrongSizeException,
com.irurueta.statistics.InvalidCovarianceMatrixException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.statistics.InvalidCovarianceMatrixException

testUpdateAccelerometerSampleWithAccumulationDisabled

@Test
void testUpdateAccelerometerSampleWithAccumulationDisabled()

testUpdateAccelerometerSampleWithAccumulationEnabled

@Test
void testUpdateAccelerometerSampleWithAccumulationEnabled()

testUpdateGyroscopeSampleWithAccumulationDisabled

@Test
void testUpdateGyroscopeSampleWithAccumulationDisabled()

testUpdateGyroscopeSampleWithAccumulationEnabled

@Test
void testUpdateGyroscopeSampleWithAccumulationEnabled()

testCalibrationWithOffset

@Test
void testCalibrationWithOffset()
                        throws com.irurueta.numerical.signal.processing.SignalProcessingException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

testCalibrationWithoutOffset

@Test
void testCalibrationWithoutOffset()
                           throws com.irurueta.numerical.signal.processing.SignalProcessingException

Throws:

com.irurueta.numerical.signal.processing.SignalProcessingException

testCalibrationConvergence

@Test
void testCalibrationConvergence()

onFullSampleReceived

public void onFullSampleReceived(BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData> calibrator)

Specified by:

onFullSampleReceived in interface BaseSlamCalibrator.BaseSlamCalibratorListener<ConstantVelocityModelSlamCalibrationData>

onFullSampleProcessed

public void onFullSampleProcessed(BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData> calibrator)

Specified by:

onFullSampleProcessed in interface BaseSlamCalibrator.BaseSlamCalibratorListener<ConstantVelocityModelSlamCalibrationData>

onCalibratorFinished

public void onCalibratorFinished(BaseSlamCalibrator<ConstantVelocityModelSlamCalibrationData> calibrator,
 boolean converged,
 boolean failed)

Specified by:

onCalibratorFinished in interface BaseSlamCalibrator.BaseSlamCalibratorListener<ConstantVelocityModelSlamCalibrationData>

reset

private void reset()