Package com.irurueta.navigation.inertial.calibration

Class RandomWalkEstimatorTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.RandomWalkEstimatorTest

All Implemented Interfaces:

RandomWalkEstimatorListener

class RandomWalkEstimatorTest
extends Object
implements RandomWalkEstimatorListener

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private int	bodyKinematicsAdded
private static final double	DEG_TO_RAD
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_HEIGHT
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final double	MICRO_G_TO_METERS_PER_SECOND_SQUARED
private static final double	MIN_ANGLE_DEGREES
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final int	N_SAMPLES
private int	reset
private int	start
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR

Constructor Summary

Constructors

Constructor	Description
RandomWalkEstimatorTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(RandomWalkEstimator estimator)
private static com.irurueta.navigation.frames.CoordinateTransformation	createOrientation()
private static com.irurueta.navigation.frames.NEDPosition	createPosition()
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private static com.irurueta.algebra.Matrix	generateGg()
private static com.irurueta.algebra.Matrix	generateMaCommonAxis()
private static com.irurueta.algebra.Matrix	generateMaGeneral()
private static com.irurueta.algebra.Matrix	generateMg()
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onBodyKinematicsAdded(RandomWalkEstimator estimator, com.irurueta.navigation.inertial.BodyKinematics measuredKinematics, com.irurueta.navigation.inertial.BodyKinematics fixedKinematics)
void	onReset(RandomWalkEstimator estimator)
void	onStart(RandomWalkEstimator estimator)
private void	reset()
(package private) void	testAddBodyKinematicsWithFixDisabledAndReset()
(package private) void	testAddBodyKinematicsWithFixEnabledAndReset()
(package private) void	testConstructor1()
(package private) void	testConstructor10()
(package private) void	testConstructor11()
(package private) void	testConstructor12()
(package private) void	testConstructor13()
(package private) void	testConstructor14()
(package private) void	testConstructor15()
(package private) void	testConstructor16()
(package private) void	testConstructor17()
(package private) void	testConstructor18()
(package private) void	testConstructor19()
(package private) void	testConstructor2()
(package private) void	testConstructor20()
(package private) void	testConstructor21()
(package private) void	testConstructor22()
(package private) void	testConstructor23()
(package private) void	testConstructor24()
(package private) void	testConstructor25()
(package private) void	testConstructor26()
(package private) void	testConstructor27()
(package private) void	testConstructor28()
(package private) void	testConstructor29()
(package private) void	testConstructor3()
(package private) void	testConstructor30()
(package private) void	testConstructor31()
(package private) void	testConstructor32()
(package private) void	testConstructor33()
(package private) void	testConstructor34()
(package private) void	testConstructor35()
(package private) void	testConstructor36()
(package private) void	testConstructor37()
(package private) void	testConstructor38()
(package private) void	testConstructor39()
(package private) void	testConstructor4()
(package private) void	testConstructor40()
(package private) void	testConstructor41()
(package private) void	testConstructor42()
(package private) void	testConstructor43()
(package private) void	testConstructor44()
(package private) void	testConstructor45()
(package private) void	testConstructor46()
(package private) void	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testConstructor9()
(package private) void	testGetEcefFrame()
(package private) void	testGetNedFrame()
(package private) void	testGetSetAccelerationBias1()
(package private) void	testGetSetAccelerationBiasArray()
(package private) void	testGetSetAccelerationBiasAsTriad()
(package private) void	testGetSetAccelerationBiasX()
(package private) void	testGetSetAccelerationBiasXAsAcceleration()
(package private) void	testGetSetAccelerationBiasY()
(package private) void	testGetSetAccelerationBiasYAsAcceleration()
(package private) void	testGetSetAccelerationBiasZ()
(package private) void	testGetSetAccelerationBiasZAsAcceleration()
(package private) void	testGetSetAccelerationCrossCouplingErrors()
(package private) void	testGetSetAccelerationMxy()
(package private) void	testGetSetAccelerationMxz()
(package private) void	testGetSetAccelerationMyx()
(package private) void	testGetSetAccelerationMyz()
(package private) void	testGetSetAccelerationMzx()
(package private) void	testGetSetAccelerationMzy()
(package private) void	testGetSetAccelerationSx()
(package private) void	testGetSetAccelerationSy()
(package private) void	testGetSetAccelerationSz()
(package private) void	testGetSetAngularSpeedBias1()
(package private) void	testGetSetAngularSpeedBias2()
(package private) void	testGetSetAngularSpeedBiasArray()
(package private) void	testGetSetAngularSpeedBiasAsTriad()
(package private) void	testGetSetAngularSpeedBiasX()
(package private) void	testGetSetAngularSpeedBiasXAsAngularSpeed()
(package private) void	testGetSetAngularSpeedBiasY()
(package private) void	testGetSetAngularSpeedBiasYAsAngularSpeed()
(package private) void	testGetSetAngularSpeedBiasZ()
(package private) void	testGetSetAngularSpeedBiasZAsAngularSpeed()
(package private) void	testGetSetAngularSpeedCrossCouplingErrors()
(package private) void	testGetSetAngularSpeedGDependentCrossBias()
(package private) void	testGetSetAngularSpeedMxy()
(package private) void	testGetSetAngularSpeedMxz()
(package private) void	testGetSetAngularSpeedMyx()
(package private) void	testGetSetAngularSpeedMyz()
(package private) void	testGetSetAngularSpeedMzx()
(package private) void	testGetSetAngularSpeedMzy()
(package private) void	testGetSetAngularSpeedSx()
(package private) void	testGetSetAngularSpeedSy()
(package private) void	testGetSetAngularSpeedSz()
(package private) void	testGetSetEcefC()
(package private) void	testGetSetEcefPosition()
(package private) void	testGetSetListener()
(package private) void	testGetSetNedC()
(package private) void	testGetSetNedPosition()
(package private) void	testGetSetTimeInterval()
(package private) void	testGetSetTimeIntervalAsTime()
(package private) void	testIsSetFixKinematicsEnabled()
(package private) void	testSetAccelerationBias()
(package private) void	testSetAccelerationBias2()
(package private) void	testSetAccelerationCrossCouplingErrors()
(package private) void	testSetAccelerationScalingFactors()
(package private) void	testSetAccelerationScalingFactorsAndCrossCouplingErrors()
(package private) void	testSetAngularSpeedBias1()
(package private) void	testSetAngularSpeedCrossCouplingErrors()
(package private) void	testSetAngularSpeedScalingFactorAndCrossCouplingErrors()
(package private) void	testSetAngularSpeedScalingFactors()
(package private) void	testSetEcefPosition1()
(package private) void	testSetEcefPosition2()
(package private) void	testSetEcefPosition3()
(package private) void	testSetEcefPositionAndEcefOrientation1()
(package private) void	testSetEcefPositionAndEcefOrientation2()
(package private) void	testSetEcefPositionAndEcefOrientation3()
(package private) void	testSetEcefPositionAndEcefOrientation4()
(package private) void	testSetEcefPositionAndNedOrientation1()
(package private) void	testSetEcefPositionAndNedOrientation2()
(package private) void	testSetEcefPositionAndNedOrientation3()
(package private) void	testSetEcefPositionAndNedOrientation4()
(package private) void	testSetNedPosition1()
(package private) void	testSetNedPosition2()
(package private) void	testSetNedPosition3()
(package private) void	testSetNedPositionAndEcefOrientation1()
(package private) void	testSetNedPositionAndEcefOrientation2()
(package private) void	testSetNedPositionAndEcefOrientation3()
(package private) void	testSetNedPositionAndEcefOrientation4()
(package private) void	testSetNedPositionAndNedOrientation1()
(package private) void	testSetNedPositionAndNedOrientation2()
(package private) void	testSetNedPositionAndNedOrientation3()
(package private) void	testSetNedPositionAndNedOrientation4()

Methods inherited from class java.lang.Object

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

Field Details

TIME_INTERVAL_SECONDS

private static final double TIME_INTERVAL_SECONDS

See Also:

• Constant Field Values

MICRO_G_TO_METERS_PER_SECOND_SQUARED

private static final double MICRO_G_TO_METERS_PER_SECOND_SQUARED

See Also:

• Constant Field Values

DEG_TO_RAD

private static final double DEG_TO_RAD

See Also:

• Constant Field Values

MIN_ANGLE_DEGREES

private static final double MIN_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_ANGLE_DEGREES

private static final double MAX_ANGLE_DEGREES

See Also:

• Constant Field Values

MIN_LATITUDE_DEGREES

private static final double MIN_LATITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LATITUDE_DEGREES

private static final double MAX_LATITUDE_DEGREES

See Also:

• Constant Field Values

MIN_LONGITUDE_DEGREES

private static final double MIN_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MAX_LONGITUDE_DEGREES

private static final double MAX_LONGITUDE_DEGREES

See Also:

• Constant Field Values

MIN_HEIGHT

private static final double MIN_HEIGHT

See Also:

• Constant Field Values

MAX_HEIGHT

private static final double MAX_HEIGHT

See Also:

• Constant Field Values

N_SAMPLES

private static final int N_SAMPLES

See Also:

• Constant Field Values

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

start

private int start

bodyKinematicsAdded

private int bodyKinematicsAdded

reset

private int reset

Constructor Details

RandomWalkEstimatorTest

RandomWalkEstimatorTest()

Method Details

testConstructor1

@Test
void testConstructor1()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor2

@Test
void testConstructor2()
               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

testConstructor3

@Test
void testConstructor3()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor4

@Test
void testConstructor4()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor5

@Test
void testConstructor5()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor6

@Test
void testConstructor6()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor7

@Test
void testConstructor7()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor8

@Test
void testConstructor8()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor9

@Test
void testConstructor9()
               throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor10

@Test
void testConstructor10()
                throws com.irurueta.algebra.AlgebraException

Throws:

com.irurueta.algebra.AlgebraException

testConstructor11

@Test
void testConstructor11()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor12

@Test
void testConstructor12()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor13

@Test
void testConstructor13()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor14

@Test
void testConstructor14()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor15

@Test
void testConstructor15()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor16

@Test
void testConstructor16()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor17

@Test
void testConstructor17()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor18

@Test
void testConstructor18()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor19

@Test
void testConstructor19()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor20

@Test
void testConstructor20()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor21

@Test
void testConstructor21()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor22

@Test
void testConstructor22()
                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor23

@Test
void testConstructor23()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor24

@Test
void testConstructor24()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor25

@Test
void testConstructor25()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor26

@Test
void testConstructor26()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor27

@Test
void testConstructor27()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor28

@Test
void testConstructor28()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor29

@Test
void testConstructor29()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor30

@Test
void testConstructor30()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor31

@Test
void testConstructor31()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor32

@Test
void testConstructor32()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor33

@Test
void testConstructor33()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor34

@Test
void testConstructor34()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor35

@Test
void testConstructor35()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor36

@Test
void testConstructor36()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor37

@Test
void testConstructor37()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor38

@Test
void testConstructor38()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor39

@Test
void testConstructor39()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor40

@Test
void testConstructor40()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor41

@Test
void testConstructor41()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor42

@Test
void testConstructor42()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor43

@Test
void testConstructor43()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor44

@Test
void testConstructor44()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor45

@Test
void testConstructor45()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testConstructor46

@Test
void testConstructor46()
                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

testGetSetListener

@Test
void testGetSetListener()
                 throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBias1

@Test
void testGetSetAccelerationBias1()
                          throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasArray

@Test
void testGetSetAccelerationBiasArray()
                              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasAsTriad

@Test
void testGetSetAccelerationBiasAsTriad()
                                throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasX

@Test
void testGetSetAccelerationBiasX()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasY

@Test
void testGetSetAccelerationBiasY()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasZ

@Test
void testGetSetAccelerationBiasZ()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetAccelerationBias

@Test
void testSetAccelerationBias()
                      throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasXAsAcceleration

@Test
void testGetSetAccelerationBiasXAsAcceleration()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasYAsAcceleration

@Test
void testGetSetAccelerationBiasYAsAcceleration()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationBiasZAsAcceleration

@Test
void testGetSetAccelerationBiasZAsAcceleration()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetAccelerationBias2

@Test
void testSetAccelerationBias2()
                       throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerationCrossCouplingErrors

@Test
void testGetSetAccelerationCrossCouplingErrors()
                                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationSx

@Test
void testGetSetAccelerationSx()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationSy

@Test
void testGetSetAccelerationSy()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationSz

@Test
void testGetSetAccelerationSz()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMxy

@Test
void testGetSetAccelerationMxy()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMxz

@Test
void testGetSetAccelerationMxz()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMyx

@Test
void testGetSetAccelerationMyx()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMyz

@Test
void testGetSetAccelerationMyz()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMzx

@Test
void testGetSetAccelerationMzx()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAccelerationMzy

@Test
void testGetSetAccelerationMzy()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAccelerationScalingFactors

@Test
void testSetAccelerationScalingFactors()
                                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAccelerationCrossCouplingErrors

@Test
void testSetAccelerationCrossCouplingErrors()
                                     throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAccelerationScalingFactorsAndCrossCouplingErrors

@Test
void testSetAccelerationScalingFactorsAndCrossCouplingErrors()
                                                      throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBias1

@Test
void testGetSetAngularSpeedBias1()
                          throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasArray

@Test
void testGetSetAngularSpeedBiasArray()
                              throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasAsTriad

@Test
void testGetSetAngularSpeedBiasAsTriad()
                                throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasX

@Test
void testGetSetAngularSpeedBiasX()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasY

@Test
void testGetSetAngularSpeedBiasY()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasZ

@Test
void testGetSetAngularSpeedBiasZ()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetAngularSpeedBias1

@Test
void testSetAngularSpeedBias1()
                       throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasXAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasXAsAngularSpeed()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasYAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasYAsAngularSpeed()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBiasZAsAngularSpeed

@Test
void testGetSetAngularSpeedBiasZAsAngularSpeed()
                                        throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedBias2

@Test
void testGetSetAngularSpeedBias2()
                          throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetAngularSpeedCrossCouplingErrors

@Test
void testGetSetAngularSpeedCrossCouplingErrors()
                                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedSx

@Test
void testGetSetAngularSpeedSx()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedSy

@Test
void testGetSetAngularSpeedSy()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedSz

@Test
void testGetSetAngularSpeedSz()
                       throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMxy

@Test
void testGetSetAngularSpeedMxy()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMxz

@Test
void testGetSetAngularSpeedMxz()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMyx

@Test
void testGetSetAngularSpeedMyx()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMyz

@Test
void testGetSetAngularSpeedMyz()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMzx

@Test
void testGetSetAngularSpeedMzx()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedMzy

@Test
void testGetSetAngularSpeedMzy()
                        throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAngularSpeedScalingFactors

@Test
void testSetAngularSpeedScalingFactors()
                                throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAngularSpeedCrossCouplingErrors

@Test
void testSetAngularSpeedCrossCouplingErrors()
                                     throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testSetAngularSpeedScalingFactorAndCrossCouplingErrors

@Test
void testSetAngularSpeedScalingFactorAndCrossCouplingErrors()
                                                     throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

testGetSetAngularSpeedGDependentCrossBias

@Test
void testGetSetAngularSpeedGDependentCrossBias()
                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

testGetSetTimeInterval

@Test
void testGetSetTimeInterval()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetTimeIntervalAsTime

@Test
void testGetSetTimeIntervalAsTime()
                           throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetEcefPosition

@Test
void testGetSetEcefPosition()
                     throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetEcefPosition1

@Test
void testSetEcefPosition1()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetEcefPosition2

@Test
void testSetEcefPosition2()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetEcefPosition3

@Test
void testSetEcefPosition3()
                   throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetEcefFrame

@Test
void testGetEcefFrame()

testGetNedFrame

@Test
void testGetNedFrame()

testGetSetNedPosition

@Test
void testGetSetNedPosition()
                    throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetNedPosition1

@Test
void testSetNedPosition1()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetNedPosition2

@Test
void testSetNedPosition2()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testSetNedPosition3

@Test
void testSetNedPosition3()
                  throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testGetSetEcefC

@Test
void testGetSetEcefC()
              throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testGetSetNedC

@Test
void testGetSetNedC()
             throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndNedOrientation1

@Test
void testSetNedPositionAndNedOrientation1()
                                   throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndNedOrientation2

@Test
void testSetNedPositionAndNedOrientation2()
                                   throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndNedOrientation3

@Test
void testSetNedPositionAndNedOrientation3()
                                   throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndNedOrientation4

@Test
void testSetNedPositionAndNedOrientation4()
                                   throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndEcefOrientation1

@Test
void testSetEcefPositionAndEcefOrientation1()
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndEcefOrientation2

@Test
void testSetEcefPositionAndEcefOrientation2()
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndEcefOrientation3

@Test
void testSetEcefPositionAndEcefOrientation3()
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndEcefOrientation4

@Test
void testSetEcefPositionAndEcefOrientation4()
                                     throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndEcefOrientation1

@Test
void testSetNedPositionAndEcefOrientation1()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndEcefOrientation2

@Test
void testSetNedPositionAndEcefOrientation2()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndEcefOrientation3

@Test
void testSetNedPositionAndEcefOrientation3()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetNedPositionAndEcefOrientation4

@Test
void testSetNedPositionAndEcefOrientation4()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndNedOrientation1

@Test
void testSetEcefPositionAndNedOrientation1()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndNedOrientation2

@Test
void testSetEcefPositionAndNedOrientation2()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndNedOrientation3

@Test
void testSetEcefPositionAndNedOrientation3()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testSetEcefPositionAndNedOrientation4

@Test
void testSetEcefPositionAndNedOrientation4()
                                    throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

testIsSetFixKinematicsEnabled

@Test
void testIsSetFixKinematicsEnabled()
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

testAddBodyKinematicsWithFixEnabledAndReset

@Test
void testAddBodyKinematicsWithFixEnabledAndReset()
                                          throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
RandomWalkEstimationException,
com.irurueta.navigation.NotReadyException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

RandomWalkEstimationException

com.irurueta.navigation.NotReadyException

testAddBodyKinematicsWithFixDisabledAndReset

@Test
void testAddBodyKinematicsWithFixDisabledAndReset()
                                           throws com.irurueta.algebra.AlgebraException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
RandomWalkEstimationException,
com.irurueta.navigation.NotReadyException

Throws:

com.irurueta.algebra.AlgebraException

com.irurueta.navigation.LockedException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

RandomWalkEstimationException

com.irurueta.navigation.NotReadyException

onStart

public void onStart(RandomWalkEstimator estimator)

Specified by:

onStart in interface RandomWalkEstimatorListener

onBodyKinematicsAdded

public void onBodyKinematicsAdded(RandomWalkEstimator estimator,
 com.irurueta.navigation.inertial.BodyKinematics measuredKinematics,
 com.irurueta.navigation.inertial.BodyKinematics fixedKinematics)

Specified by:

onBodyKinematicsAdded in interface RandomWalkEstimatorListener

onReset

public void onReset(RandomWalkEstimator estimator)

Specified by:

onReset in interface RandomWalkEstimatorListener

checkLocked

private static void checkLocked(RandomWalkEstimator estimator)

reset

private void reset()

generateBa

private static com.irurueta.algebra.Matrix generateBa()

generateBg

private static com.irurueta.algebra.Matrix generateBg()

generateMaGeneral

private static com.irurueta.algebra.Matrix generateMaGeneral()
                                                      throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMaCommonAxis

private static com.irurueta.algebra.Matrix generateMaCommonAxis()
                                                         throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateMg

private static com.irurueta.algebra.Matrix generateMg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

generateGg

private static com.irurueta.algebra.Matrix generateGg()
                                               throws com.irurueta.algebra.WrongSizeException

Throws:

com.irurueta.algebra.WrongSizeException

getAccelNoiseRootPSD

private static double getAccelNoiseRootPSD()

getGyroNoiseRootPSD

private static double getGyroNoiseRootPSD()

createPosition

private static com.irurueta.navigation.frames.NEDPosition createPosition()

createOrientation

private static com.irurueta.navigation.frames.CoordinateTransformation createOrientation()