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

Class BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerTest

java.lang.Object

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

All Implemented Interfaces:

IntervalDetectorThresholdFactorOptimizerListener<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

class BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerTest
extends Object
implements IntervalDetectorThresholdFactorOptimizerListener<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

Field Summary

Fields

Modifier and Type	Field	Description
private static final double	ABSOLUTE_ERROR
private static final double	ABSOLUTE_ERROR_MAGNETOMETER
private final List<StandardDeviationBodyKinematics>	accelerometerGeneratorMeasurements
private final AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource	dataSource
private static final double	DEG_TO_RAD
private int	end
private static final Calendar	END_CALENDAR
private static final long	END_TIMESTAMP_MILLIS
private final com.irurueta.navigation.inertial.calibration.generators.AccelerometerGyroscopeAndMagnetometerMeasurementsGeneratorListener	generatorListener
private final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>>	gyroscopeGeneratorMeasurements
private static final double	LARGE_ABSOLUTE_ERROR
private static final double	LARGE_ABSOLUTE_ERROR_MAGNETOMETER
private static final double	MAGNETOMETER_NOISE_STD
private final List<StandardDeviationBodyMagneticFluxDensity>	magnetometerGeneratorMeasurements
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_HARD_IRON
private static final double	MAX_HEIGHT
private static final double	MAX_LATITUDE_DEGREES
private static final double	MAX_LONGITUDE_DEGREES
private static final double	MAX_SOFT_IRON
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_HARD_IRON
private static final double	MIN_HEIGHT
private static final double	MIN_LATITUDE_DEGREES
private static final double	MIN_LONGITUDE_DEGREES
private static final double	MIN_SOFT_IRON
private static final int	NUM_MEASUREMENTS
private float	progress
private static final double	SMALL_ABSOLUTE_ERROR
private static final double	SMALL_MAGNETOMETER_NOISE_STD
private static final double	SMALL_ROOT_PSD
private int	start
private static final Calendar	START_CALENDAR
private static final long	START_TIMESTAMP_MILLIS
private static final double	TIME_INTERVAL_SECONDS
private final List<TimedBodyKinematicsAndMagneticFluxDensity>	timedBodyKinematicsAndMagneticFluxDensities
private static final int	TIMES
private static final double	VERY_LARGE_ABSOLUTE_ERROR
private static final double	VERY_LARGE_ABSOLUTE_ERROR_MAGNETOMETER

Constructor Summary

Constructors

Constructor	Description
BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerTest()

Method Summary

Modifier and Type	Method	Description
private static void	checkLocked(BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer optimizer)
private static com.irurueta.navigation.frames.NEDPosition	createPosition(com.irurueta.statistics.UniformRandomizer randomizer)
private static long	createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.navigation.inertial.BodyMagneticFluxDensity	generateB(double[] hardIron, com.irurueta.algebra.Matrix softIron, com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator, com.irurueta.statistics.GaussianRandomizer noiseRandomizer, Date timestamp, com.irurueta.navigation.frames.NEDPosition position, com.irurueta.navigation.frames.CoordinateTransformation cnb)
private static com.irurueta.algebra.Matrix	generateBa()
private static com.irurueta.algebra.Matrix	generateBg()
private void	generateDynamicSamples(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, int startSample, boolean changePosition, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator, Date timestamp, com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation cnb, com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
private static com.irurueta.navigation.frames.NEDFrame	generateFrame()
private static com.irurueta.algebra.Matrix	generateGg()
private static double[]	generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)
private static com.irurueta.algebra.Matrix	generateMaCommonAxis()
private static com.irurueta.algebra.Matrix	generateMaGeneral()
private static com.irurueta.navigation.inertial.BodyMagneticFluxDensity	generateMeasuredMagneticFluxDensity(com.irurueta.navigation.inertial.BodyMagneticFluxDensity input, double[] hardIron, com.irurueta.algebra.Matrix softIron)
private static com.irurueta.algebra.Matrix	generateMg()
private static com.irurueta.algebra.Matrix	generateSoftIronCommonAxis()
private static com.irurueta.algebra.Matrix	generateSoftIronGeneral()
private void	generateStaticSamples(int numSamples, com.irurueta.navigation.inertial.BodyKinematics trueKinematics, IMUErrors errors, Random random, int startSample, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator, Date timestamp, com.irurueta.navigation.frames.NEDPosition nedPosition, com.irurueta.navigation.frames.CoordinateTransformation cnb, com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
private void	generateTimedBodyKinematicsAndMagneticFluxDensity(com.irurueta.navigation.frames.NEDFrame nedFrame, com.irurueta.navigation.frames.ECEFFrame ecefFrame, boolean changePosition, com.irurueta.algebra.Matrix ma, double accelNoiseRootPSD, double gyroNoiseRootPSD, int numSequences, int numMeasurements, com.irurueta.algebra.Matrix hardIron, com.irurueta.algebra.Matrix mm, Date timestamp, com.irurueta.navigation.frames.NEDPosition nedPosition, double magnetometerNoiseStd)
private static double	getAccelNoiseRootPSD()
private static double	getGyroNoiseRootPSD()
private static double	interpolate(double value, double progress)
void	onOptimizeEnd(IntervalDetectorThresholdFactorOptimizer<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)
void	onOptimizeProgressChange(IntervalDetectorThresholdFactorOptimizer<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer, float progress)
void	onOptimizeStart(IntervalDetectorThresholdFactorOptimizer<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)
private void	reset()
(package private) void	testConstructor1()
(package private) void	testConstructor2()
(package private) void	testConstructor3()
(package private) void	testConstructor4()
(package private) void	testConstructor5()
(package private) void	testConstructor6()
(package private) void	testConstructor7()
(package private) void	testConstructor8()
(package private) void	testGetSetAccelerometerCalibrator()
(package private) void	testGetSetAccelerometerQualityScoreMapper()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThreshold()
(package private) void	testGetSetBaseNoiseLevelAbsoluteThresholdAsMeasurement()
(package private) void	testGetSetDataSource()
(package private) void	testGetSetGyroscopeCalibrator()
(package private) void	testGetSetGyroscopeQualityScoreMapper()
(package private) void	testGetSetInitialStaticSamples()
(package private) void	testGetSetInstantaneousNoiseLevelFactor()
(package private) void	testGetSetListener()
(package private) void	testGetSetMagnetometerCalibrator()
(package private) void	testGetSetMagnetometerQualityScoreMapper()
(package private) void	testGetSetMaxDynamicSamples()
(package private) void	testGetSetMinStaticSamples()
(package private) void	testGetSetMseOptimizer()
(package private) void	testGetSetMseRule()
(package private) void	testGetSetProgressDelta()
(package private) void	testGetSetThresholdFactorRange()
(package private) void	testGetSetTimeInterval()
(package private) void	testGetSetTimeIntervalAsTime()
(package private) void	testGetSetWindowSize()
(package private) void	testIsReady()
(package private) void	testOptimizeCommonAxisGDependentCrossBiasesWithSmallNoise()
(package private) void	testOptimizeCommonAxisNoGDependentCrossBiasesWithSmallNoise()
(package private) void	testOptimizeCommonAxisNoGDependentCrossBiasesWithSmallNoiseRotationAndPositionChange()
(package private) void	testOptimizeGeneralGDependentCrossBiasesWithSmallNoise()
(package private) void	testOptimizeGeneralNoGDependentCrossBiasesWithSmallNoise()
(package private) void	testOptimizeMaCommonAxisWithNoise()
(package private) void	testOptimizeRobustCalibrators()

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_HARD_IRON

private static final double MIN_HARD_IRON

See Also:

• Constant Field Values

MAX_HARD_IRON

private static final double MAX_HARD_IRON

See Also:

• Constant Field Values

MIN_SOFT_IRON

private static final double MIN_SOFT_IRON

See Also:

• Constant Field Values

MAX_SOFT_IRON

private static final double MAX_SOFT_IRON

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

SMALL_MAGNETOMETER_NOISE_STD

private static final double SMALL_MAGNETOMETER_NOISE_STD

See Also:

• Constant Field Values

MAGNETOMETER_NOISE_STD

private static final double MAGNETOMETER_NOISE_STD

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

ABSOLUTE_ERROR

private static final double ABSOLUTE_ERROR

See Also:

• Constant Field Values

VERY_LARGE_ABSOLUTE_ERROR

private static final double VERY_LARGE_ABSOLUTE_ERROR

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR

private static final double LARGE_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

ABSOLUTE_ERROR_MAGNETOMETER

private static final double ABSOLUTE_ERROR_MAGNETOMETER

See Also:

• Constant Field Values

LARGE_ABSOLUTE_ERROR_MAGNETOMETER

private static final double LARGE_ABSOLUTE_ERROR_MAGNETOMETER

See Also:

• Constant Field Values

VERY_LARGE_ABSOLUTE_ERROR_MAGNETOMETER

private static final double VERY_LARGE_ABSOLUTE_ERROR_MAGNETOMETER

See Also:

• Constant Field Values

NUM_MEASUREMENTS

private static final int NUM_MEASUREMENTS

See Also:

• Constant Field Values

START_CALENDAR

private static final Calendar START_CALENDAR

END_CALENDAR

private static final Calendar END_CALENDAR

START_TIMESTAMP_MILLIS

private static final long START_TIMESTAMP_MILLIS

END_TIMESTAMP_MILLIS

private static final long END_TIMESTAMP_MILLIS

timedBodyKinematicsAndMagneticFluxDensities

private final List<TimedBodyKinematicsAndMagneticFluxDensity> timedBodyKinematicsAndMagneticFluxDensities

dataSource

private final AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource dataSource

generatorListener

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

accelerometerGeneratorMeasurements

private final List<StandardDeviationBodyKinematics> accelerometerGeneratorMeasurements

gyroscopeGeneratorMeasurements

private final List<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> gyroscopeGeneratorMeasurements

magnetometerGeneratorMeasurements

private final List<StandardDeviationBodyMagneticFluxDensity> magnetometerGeneratorMeasurements

start

private int start

end

private int end

progress

private float progress

Constructor Details

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerTest

BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerTest()

Method Details

testConstructor1

@Test
void testConstructor1()

testConstructor2

@Test
void testConstructor2()

testConstructor3

@Test
void testConstructor3()

testConstructor4

@Test
void testConstructor4()

testConstructor5

@Test
void testConstructor5()

testConstructor6

@Test
void testConstructor6()

testConstructor7

@Test
void testConstructor7()

testConstructor8

@Test
void testConstructor8()

testGetSetMseOptimizer

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerCalibrator

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

Throws:

com.irurueta.navigation.LockedException

testGetSetGyroscopeCalibrator

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMagnetometerCalibrator

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

Throws:

com.irurueta.navigation.LockedException

testGetSetAccelerometerQualityScoreMapper

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

Throws:

com.irurueta.navigation.LockedException

testGetSetGyroscopeQualityScoreMapper

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMagnetometerQualityScoreMapper

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

Throws:

com.irurueta.navigation.LockedException

testGetSetMseRule

@Test
void testGetSetMseRule()
                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

testOptimizeMaCommonAxisWithNoise

@Test
void testOptimizeMaCommonAxisWithNoise()
                                throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
com.irurueta.geometry.InvalidRotationMatrixException,
IOException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

com.irurueta.geometry.InvalidRotationMatrixException

IOException

com.irurueta.geometry.RotationException

testOptimizeGeneralNoGDependentCrossBiasesWithSmallNoise

@Disabled("too slow")
@Test
void testOptimizeGeneralNoGDependentCrossBiasesWithSmallNoise()
                                                       throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
IOException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

IOException

com.irurueta.geometry.RotationException

testOptimizeCommonAxisNoGDependentCrossBiasesWithSmallNoise

@Test
void testOptimizeCommonAxisNoGDependentCrossBiasesWithSmallNoise()
                                                          throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
IOException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

IOException

com.irurueta.geometry.RotationException

testOptimizeGeneralGDependentCrossBiasesWithSmallNoise

@Test
void testOptimizeGeneralGDependentCrossBiasesWithSmallNoise()
                                                     throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
com.irurueta.geometry.InvalidRotationMatrixException,
IOException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

com.irurueta.geometry.InvalidRotationMatrixException

IOException

com.irurueta.geometry.RotationException

testOptimizeCommonAxisGDependentCrossBiasesWithSmallNoise

@Disabled("too slow")
@Test
void testOptimizeCommonAxisGDependentCrossBiasesWithSmallNoise()
                                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
IOException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

IOException

com.irurueta.geometry.RotationException

testOptimizeCommonAxisNoGDependentCrossBiasesWithSmallNoiseRotationAndPositionChange

@Disabled("too slow")
@Test
void testOptimizeCommonAxisNoGDependentCrossBiasesWithSmallNoiseRotationAndPositionChange()
                                                                                   throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
com.irurueta.geometry.InvalidRotationMatrixException,
IOException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

com.irurueta.geometry.InvalidRotationMatrixException

IOException

com.irurueta.geometry.RotationException

testOptimizeRobustCalibrators

@Test
void testOptimizeRobustCalibrators()
                            throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.navigation.LockedException,
com.irurueta.navigation.NotReadyException,
IntervalDetectorThresholdFactorOptimizerException,
com.irurueta.geometry.InvalidRotationMatrixException,
IOException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.navigation.LockedException

com.irurueta.navigation.NotReadyException

IntervalDetectorThresholdFactorOptimizerException

com.irurueta.geometry.InvalidRotationMatrixException

IOException

com.irurueta.geometry.RotationException

onOptimizeStart

public void onOptimizeStart(IntervalDetectorThresholdFactorOptimizer<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)

Specified by:

onOptimizeStart in interface IntervalDetectorThresholdFactorOptimizerListener<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

onOptimizeEnd

public void onOptimizeEnd(IntervalDetectorThresholdFactorOptimizer<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer)

Specified by:

onOptimizeEnd in interface IntervalDetectorThresholdFactorOptimizerListener<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

onOptimizeProgressChange

public void onOptimizeProgressChange(IntervalDetectorThresholdFactorOptimizer<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource> optimizer,
 float progress)

Specified by:

onOptimizeProgressChange in interface IntervalDetectorThresholdFactorOptimizerListener<TimedBodyKinematicsAndMagneticFluxDensity,AccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizerDataSource>

checkLocked

private static void checkLocked(BracketedAccelerometerGyroscopeAndMagnetometerIntervalDetectorThresholdFactorOptimizer optimizer)

generateTimedBodyKinematicsAndMagneticFluxDensity

private void generateTimedBodyKinematicsAndMagneticFluxDensity(com.irurueta.navigation.frames.NEDFrame nedFrame,
 com.irurueta.navigation.frames.ECEFFrame ecefFrame,
 boolean changePosition,
 com.irurueta.algebra.Matrix ma,
 double accelNoiseRootPSD,
 double gyroNoiseRootPSD,
 int numSequences,
 int numMeasurements,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition nedPosition,
 double magnetometerNoiseStd)
                                                        throws com.irurueta.algebra.WrongSizeException,
com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException,
IOException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.algebra.WrongSizeException

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

IOException

com.irurueta.geometry.RotationException

generateB

private static com.irurueta.navigation.inertial.BodyMagneticFluxDensity generateB(double[] hardIron,
 com.irurueta.algebra.Matrix softIron,
 com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition position,
 com.irurueta.navigation.frames.CoordinateTransformation cnb)

generateMeasuredMagneticFluxDensity

private static com.irurueta.navigation.inertial.BodyMagneticFluxDensity generateMeasuredMagneticFluxDensity(com.irurueta.navigation.inertial.BodyMagneticFluxDensity input,
 double[] hardIron,
 com.irurueta.algebra.Matrix softIron)

generateHardIron

private static double[] generateHardIron(com.irurueta.statistics.UniformRandomizer randomizer)

generateSoftIronCommonAxis

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

generateSoftIronGeneral

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

createPosition

private static com.irurueta.navigation.frames.NEDPosition createPosition(com.irurueta.statistics.UniformRandomizer randomizer)

createTimestamp

private static long createTimestamp(com.irurueta.statistics.UniformRandomizer randomizer)

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(int numSamples,
 com.irurueta.navigation.inertial.BodyKinematics trueKinematics,
 IMUErrors errors,
 Random random,
 int startSample,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation cnb,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer)

generateDynamicSamples

private void generateDynamicSamples(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,
 int startSample,
 boolean changePosition,
 com.irurueta.algebra.Matrix hardIron,
 com.irurueta.algebra.Matrix mm,
 com.irurueta.navigation.inertial.wmm.WMMEarthMagneticFluxDensityEstimator wmmEstimator,
 Date timestamp,
 com.irurueta.navigation.frames.NEDPosition nedPosition,
 com.irurueta.navigation.frames.CoordinateTransformation cnb,
 com.irurueta.statistics.GaussianRandomizer noiseRandomizer)
                             throws com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException,
com.irurueta.geometry.InvalidRotationMatrixException,
com.irurueta.geometry.RotationException

Throws:

com.irurueta.navigation.frames.InvalidSourceAndDestinationFrameTypeException

com.irurueta.geometry.InvalidRotationMatrixException

com.irurueta.geometry.RotationException

interpolate

private static double interpolate(double value,
 double progress)

reset

private void reset()