1 /*
2 * Copyright (C) 2021 Alberto Irurueta Carro (alberto@irurueta.com)
3 *
4 * Licensed under the Apache License, Version 2.0 (the "License");
5 * you may not use this file except in compliance with the License.
6 * You may obtain a copy of the License at
7 *
8 * http://www.apache.org/licenses/LICENSE-2.0
9 *
10 * Unless required by applicable law or agreed to in writing, software
11 * distributed under the License is distributed on an "AS IS" BASIS,
12 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
13 * See the License for the specific language governing permissions and
14 * limitations under the License.
15 */
16 package com.irurueta.navigation.inertial.calibration.intervals.thresholdfactor;
17
18 /**
19 * Provides a rule or function to convert estimated accelerometer calibration
20 * Mean Square Error (MSE), estimated gyroscope calibration Mean Square Error
21 * (MSE) and estimated magnetometer calibrator Mean Square Error (MSE) into a
22 * single MSE value.
23 * Typical implementation simply sums all three MSE values; however, custom
24 * implementations can be made to make one error more prevalent than the other, etc.
25 */
26 public interface AccelerometerGyroscopeAndMagnetometerMseRule {
27
28 /**
29 * Evaluates provided accelerometer calibration MSE, gyroscope calibration
30 * MSE and magnetometer calibration MSE in order to obtain a single MSE
31 * value representing all three of them.
32 *
33 * @param accelerometerMse accelerometer calibration MSE.
34 * @param gyroscopeMse gyroscope calibration MSE.
35 * @param magnetometerMse magnetometer calibration MSE.
36 * @return single MSE value.
37 */
38 double evaluate(final double accelerometerMse, final double gyroscopeMse,
39 final double magnetometerMse);
40 }