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;
17
18 import com.irurueta.navigation.inertial.INSLooselyCoupledKalmanInitializerConfig;
19
20 /**
21 * Defines a source for attitude uncertainty.
22 */
23 public interface AttitudeUncertaintySource {
24 /**
25 * Gets attitude uncertainty expressed in radians (rad).
26 * Attitude uncertainty can be measured using a RandomWalkEstimator,
27 * although typically to create a {@link INSLooselyCoupledKalmanInitializerConfig},
28 * position, velocity and attitude are externally measured by other means
29 * introducing a different amount of uncertainty (e.g., GPS).
30 *
31 * @return attitude uncertainty expressed in radians (rad).
32 */
33 double getAttitudeUncertainty();
34
35 }