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 import com.irurueta.navigation.inertial.calibration.BodyKinematicsSequence;
19 import com.irurueta.navigation.inertial.calibration.StandardDeviationTimedBodyKinematics;
20
21 /**
22 * Default implementation to map a given measurement into a given quality score to be
23 * used for gyroscope calibration.
24 */
25 public class DefaultGyroscopeQualityScoreMapper implements
26 QualityScoreMapper<BodyKinematicsSequence<StandardDeviationTimedBodyKinematics>> {
27
28 /**
29 * Maps a given value corresponding to a generated measurement, into a given quality score.
30 *
31 * @param value type of measurement.
32 * @return mapped quality score.
33 */
34 @Override
35 public double map(final BodyKinematicsSequence<StandardDeviationTimedBodyKinematics> value) {
36 final var items = value.getSortedItems();
37 if (items != null) {
38 final var count = value.getItemsCount();
39
40 var avg = 0.0;
41 for (var item : items) {
42 avg += (item.getSpecificForceStandardDeviation() + item.getAngularRateStandardDeviation()) / count;
43 }
44
45 return 1.0 / (1.0 + avg);
46 } else {
47 return 0.0;
48 }
49 }
50 }