Package com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor

Class ExhaustiveAccelerometerIntervalDetectorThresholdFactorOptimizerTest

java.lang.Object

com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor.ExhaustiveAccelerometerIntervalDetectorThresholdFactorOptimizerTest

All Implemented Interfaces:

IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource>

class ExhaustiveAccelerometerIntervalDetectorThresholdFactorOptimizerTest
extends Object
implements IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource>

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private final List<com.irurueta.navigation.inertial.BodyKinematics>	bodyKinematics
private final AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource	dataSource
private static final double	DEG_TO_RAD
private int	end
private final com.irurueta.navigation.inertial.calibration.generators.AccelerometerMeasurementsGeneratorListener	generatorListener
private final List<StandardDeviationBodyKinematics>	generatorMeasurements
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	MAX_ANGLE_DEGREES
private static final double	MAX_DELTA_ANGLE_DEGREES
private static final double	MAX_DELTA_POS_METERS
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_DELTA_ANGLE_DEGREES
private static final double	MIN_DELTA_POS_METERS
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private float	progress
private static final double	SMALL_ABSOLUTE_ERROR
private static final double	SMALL_ROOT_PSD
private int	start
private static final double	TIME_INTERVAL_SECONDS
private static final int	TIMES

Constructor Summary

Constructors

Constructor	Description
ExhaustiveAccelerometerIntervalDetectorThresholdFactorOptimizerTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(ExhaustiveAccelerometerIntervalDetectorThresholdFactorOptimizer optimizer)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private boolean	generateBodyKinematics(com.irurueta.navigation.frames.NEDFrame nedFrame, com.irurueta.navigation.frames.ECEFFrame ecefFrame, boolean changePosition, com.irurueta.algebra.Matrix ma, double accelNoiseRootPSD, double gyroNoiseRootPSD, int numMeasurements)
private void	generateDynamicSamples(com.irurueta.navigation.inertial.calibration.generators.AccelerometerMeasurementsGenerator generator, int numSamples, com.irurueta.navigation.inertial.BodyKinematics trueKinematics, com.irurueta.statistics.UniformRandomizer randomizer, com.irurueta.navigation.frames.ECEFFrame ecefFrame, com.irurueta.navigation.frames.NEDFrame nedFrame, IMUErrors errors, Random random, boolean changePosition)
private static com.irurueta.navigation.frames.NEDFrame	generateFrame()
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 void	generateStaticSamples(com.irurueta.navigation.inertial.calibration.generators.AccelerometerMeasurementsGenerator generator, int numSamples, com.irurueta.navigation.inertial.BodyKinematics trueKinematics, IMUErrors errors, Random random)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
void	onOptimizeEnd(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)
void	onOptimizeProgressChange(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer, float progress)
void	onOptimizeStart(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)
private void	reset()
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testConstructor3()
(package private) void	testConstructor4()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThreshold()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement()
(package private) void	testGetSetCalibrator()
(package private) void	testGetSetDataSource()
(package private) void	testGetSetInitialStaticSamples()
(package private) void	testGetSetInstantaneousNoiseLevelFactor()
(package private) void	testGetSetListener()
(package private) void	testGetSetMaxDynamicSamples()
(package private) void	testGetSetMinStaticSamples()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetQualityScoreMapper()
(package private) void	testGetSetThresholdFactorRange()
(package private) void	testGetSetThresholdFactorStep()
(package private) void	testGetSetTimeInterval()
(package private) void	testGetSetTimeIntervalAsTime()
(package private) void	testGetSetWindowSize()
(package private) void	testIsReady()
(package private) void	testOptimizeCommonAxisSmallNoiseOnlyRotation()
(package private) void	testOptimizeCommonAxisSmallNoiseWithRotationAndPositionChange()
(package private) void	testOptimizeGeneralWithNoise()
(package private) void	testOptimizeRobustCalibrator()

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

MIN_DELTA_POS_METERS

private static final double MIN_DELTA_POS_METERS

See Also:

• Constant Field Values

MAX_DELTA_POS_METERS

private static final double MAX_DELTA_POS_METERS

See Also:

• Constant Field Values

MIN_DELTA_ANGLE_DEGREES

private static final double MIN_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

MAX_DELTA_ANGLE_DEGREES

private static final double MAX_DELTA_ANGLE_DEGREES

See Also:

• Constant Field Values

TIMES

private static final int TIMES

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ABSOLUTE_ERROR

private static final double SMALL_ABSOLUTE_ERROR

See Also:

• Constant Field Values

SMALL_ROOT_PSD

private static final double SMALL_ROOT_PSD

See Also:

• Constant Field Values

bodyKinematics

private final List<com.irurueta.navigation.inertial.BodyKinematics> bodyKinematics

dataSource

private final AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource

generatorListener

private final com.irurueta.navigation.inertial.calibration.generators.AccelerometerMeasurementsGeneratorListener generatorListener

generatorMeasurements

private final List<StandardDeviationBodyKinematics> generatorMeasurements

start

private int start

end

private int end

progress

private float progress

Constructor Details

ExhaustiveAccelerometerIntervalDetectorThresholdFactorOptimizerTest

ExhaustiveAccelerometerIntervalDetectorThresholdFactorOptimizerTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

testConstructor3

@Test
void testConstructor3()

testConstructor4

@Test
void testConstructor4()

testGetSetThresholdFactorStep

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

Throws:

com.irurueta.navigation.LockedException

testGetSetCalibrator

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

Throws:

com.irurueta.navigation.LockedException

testGetSetQualityScoreMapper

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

Throws:

com.irurueta.navigation.LockedException

testGetSetThresholdFactorRange

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

Throws:

com.irurueta.navigation.LockedException

testGetSetDataSource

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

Throws:

com.irurueta.navigation.LockedException

testIsReady

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

Throws:

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

testGetSetMinStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMaxDynamicSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetWindowSize

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInitialStaticSamples

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

Throws:

com.irurueta.navigation.LockedException

testGetSetInstantaneousNoiseLevelFactor

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThreshold

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

Throws:

com.irurueta.navigation.LockedException

testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement

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

Throws:

com.irurueta.navigation.LockedException

testGetSetListener

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

Throws:

com.irurueta.navigation.LockedException

testGetSetProgressDelta

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

Throws:

com.irurueta.navigation.LockedException

testOptimizeGeneralWithNoise

@Test
void testOptimizeGeneralWithNoise()
                           throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
CalibrationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

CalibrationException

testOptimizeCommonAxisSmallNoiseOnlyRotation

@Test
void testOptimizeCommonAxisSmallNoiseOnlyRotation()
                                           throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
CalibrationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

CalibrationException

testOptimizeCommonAxisSmallNoiseWithRotationAndPositionChange

@Test
void testOptimizeCommonAxisSmallNoiseWithRotationAndPositionChange()
                                                            throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
CalibrationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

CalibrationException

testOptimizeRobustCalibrator

@Test
void testOptimizeRobustCalibrator()
                           throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
CalibrationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

CalibrationException

onOptimizeStart

public void onOptimizeStart(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)

Specified by:

onOptimizeStart in interface IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource>

onOptimizeEnd

public void onOptimizeEnd(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)

Specified by:

onOptimizeEnd in interface IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource>

onOptimizeProgressChange

public void onOptimizeProgressChange(IntervalDetectorThresholdFactorOptimizer<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer,
 float progress)

Specified by:

onOptimizeProgressChange in interface IntervalDetectorThresholdFactorOptimizerListener<com.irurueta.navigation.inertial.BodyKinematics,AccelerometerIntervalDetectorThresholdFactorOptimizerDataSource>

checkLocked

private static void checkLocked(ExhaustiveAccelerometerIntervalDetectorThresholdFactorOptimizer optimizer)

generateBodyKinematics

private boolean generateBodyKinematics(com.irurueta.navigation.frames.NEDFrame nedFrame,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 boolean changePosition,
 com.irurueta.algebra.Matrix ma,
 double accelNoiseRootPSD,
 double gyroNoiseRootPSD,
 int numMeasurements)
                                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

generateFrame

private static com.irurueta.navigation.frames.NEDFrame generateFrame()
                                                              throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

generateBa

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

generateBg

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

generateMaCommonAxis

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

Throws:

com.irurueta.algebra.WrongSizeException

generateMaGeneral

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

generateStaticSamples

private void generateStaticSamples(com.irurueta.navigation.inertial.calibration.generators.AccelerometerMeasurementsGenerator generator,
 int numSamples,
 com.irurueta.navigation.inertial.BodyKinematics trueKinematics,
 IMUErrors errors,
 Random random)
                            throws com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.LockedException

generateDynamicSamples

private void generateDynamicSamples(com.irurueta.navigation.inertial.calibration.generators.AccelerometerMeasurementsGenerator generator,
 int numSamples,
 com.irurueta.navigation.inertial.BodyKinematics trueKinematics,
 com.irurueta.statistics.UniformRandomizer randomizer,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 com.irurueta.navigation.frames.NEDFrame nedFrame,
 IMUErrors errors,
 Random random,
 boolean changePosition)
                             throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

reset

private void reset()