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) and estimated gyroscope calibration Mean Square Error
21 * (MSE) into a single MSE value.
22 * Typical implementation simply sums both MSE values. However, custom
23 * implementations can be made to make one error more prevalent than the other, etc.
24 */
25 public interface AccelerometerAndGyroscopeMseRule {
26
27 /**
28 * Evaluates provided accelerometer calibration MSE and gyroscope calibration
29 * MSE to get a single MSE value representing both.
30 *
31 * @param accelerometerMse accelerometer calibration MSE.
32 * @param gyroscopeMse gyroscope calibration MSE.
33 * @return single MSE value.
34 */
35 double evaluate(final double accelerometerMse, final double gyroscopeMse);
36 }