Package com.irurueta.navigation.inertial.calibration

Class StandardDeviationFrameBodyKinematics

java.lang.Object

com.irurueta.navigation.inertial.calibration.FrameBodyKinematics

com.irurueta.navigation.inertial.calibration.StandardDeviationFrameBodyKinematics

All Implemented Interfaces:

Serializable, Cloneable

public class StandardDeviationFrameBodyKinematics
extends FrameBodyKinematics

Extension of FrameBodyKinematics containing standard deviations of measured specific force and angular rates included on measured body kinematics (accelerometer + gyroscope) besides the corresponding frame (position, orientation and velocity) where the kinematics measurement was made.

See Also:

• Serialized Form

Field Summary

Fields

Modifier and Type	Field	Description
private double	angularRateStandardDeviation	Standard deviation of measured angular rate expressed in radians per second (rad/s).
private static final long	serialVersionUID	Serialization version.
private double	specificForceStandardDeviation	Standard deviation of measured specific force expressed in meters per squared second (m/s^2).

Constructor Summary

Constructors

Constructor	Description
StandardDeviationFrameBodyKinematics()	Constructor.
StandardDeviationFrameBodyKinematics(double timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(double timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(double timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, double timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, double timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, double timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, com.irurueta.units.Time timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, com.irurueta.units.Time timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, com.irurueta.units.Time timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, double timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, double timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, double timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, com.irurueta.units.Time timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, com.irurueta.units.Time timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, com.irurueta.units.Time timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, double timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, double timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, double timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, com.irurueta.units.Time timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, com.irurueta.units.Time timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.navigation.frames.ECEFFrame previousFrame, com.irurueta.units.Time timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.ECEFFrame frame, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, double timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, double timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, double timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, com.irurueta.units.Time timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, com.irurueta.units.Time timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.navigation.frames.NEDFrame previousFrame, com.irurueta.units.Time timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.navigation.frames.NEDFrame frame, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(BodyKinematics kinematics, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(StandardDeviationFrameBodyKinematics input)	Copy constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.units.Time timeInterval)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.units.Time timeInterval, double specificForceStandardDeviation, double angularRateStandardDeviation)	Constructor.
StandardDeviationFrameBodyKinematics(com.irurueta.units.Time timeInterval, com.irurueta.units.Acceleration specificForceStandardDeviation, com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Constructor.

Method Summary

Modifier and Type	Method	Description
protected Object	clone()	Makes a copy of this instance.
private static double	convertAcceleration(com.irurueta.units.Acceleration acceleration)	Converts provided acceleration to meters per squared second (m/s^2).
private static double	convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)	Converts provided angular speed to radians per second (rad/s).
void	copyFrom(StandardDeviationFrameBodyKinematics input)	Copies data of provided instance into this instance.
void	copyTo(StandardDeviationFrameBodyKinematics output)	Copies this instance data into provided instance.
boolean	equals(FrameBodyKinematics other, double threshold)	Checks if provided instance has contents similar to this instance up to provided threshold value.
boolean	equals(StandardDeviationFrameBodyKinematics other)	Checks if provided instance has exactly the same contents as this instance.
boolean	equals(StandardDeviationFrameBodyKinematics other, double threshold)	Checks if provided instance has contents similar to this instance up to provided threshold value.
boolean	equals(Object obj)	Checks if provided object is a StandardDeviationFrameBodyKinematics instance having exactly the same contents as this instance.
double	getAngularRateStandardDeviation()	Gets standard deviation of measured angular rate expressed in radians per second (rad/s).
com.irurueta.units.AngularSpeed	getAngularRateStandardDeviationAsAngularSpeed()	Gets standard deviation of measured angular rate.
void	getAngularRateStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)	Gets standard deviation of measured angular rate.
double	getSpecificForceStandardDeviation()	Gets standard deviation of measured specific force expressed in meters per squared second (m/s^2).
com.irurueta.units.Acceleration	getSpecificForceStandardDeviationAsAcceleration()	Gets standard deviation of measured specific force.
void	getSpecificForceStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)	Gets standard deviation of measured specific force.
int	hashCode()	Computes and returns hash code for this instance.
void	setAngularRateStandardDeviation(double angularRateStandardDeviation)	Sets standard deviation of measured angular rate expressed in radians per second (rad/s).
void	setAngularRateStandardDeviation(com.irurueta.units.AngularSpeed angularRateStandardDeviation)	Sets standard deviation of measured angular rate.
void	setSpecificForceStandardDeviation(double specificForceStandardDeviation)	Sets standard deviation of measured specific force expressed in meters per squared second (m/s^2).
void	setSpecificForceStandardDeviation(com.irurueta.units.Acceleration specificForceStandardDeviation)	Sets standard deviation of measured specific force.

Methods inherited from class com.irurueta.navigation.inertial.calibration.FrameBodyKinematics

copyFrom, copyTo, equals, getFrame, getKinematics, getNedFrame, getNedFrame, getPreviousFrame, getPreviousNedFrame, getPreviousNedFrame, getTimeInterval, getTimeIntervalAsTime, getTimeIntervalAsTime, setFrame, setKinematics, setNedFrame, setPreviousFrame, setPreviousNedFrame, setTimeInterval, setTimeInterval

Methods inherited from class java.lang.Object

finalize, getClass, notify, notifyAll, toString, wait, wait, wait

Field Details

serialVersionUID

private static final long serialVersionUID

Serialization version. This is used to ensure compatibility of deserialization of permanently stored serialized instances.

See Also:

• Constant Field Values

specificForceStandardDeviation

private double specificForceStandardDeviation

Standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation

private double angularRateStandardDeviation

Standard deviation of measured angular rate expressed in radians per second (rad/s).

Constructor Details

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics()

Constructor.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(double timeInterval)

Constructor.

Parameters:

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.units.Time timeInterval)

Constructor.

Parameters:

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 double timeInterval)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 com.irurueta.units.Time timeInterval)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 double timeInterval)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 com.irurueta.units.Time timeInterval)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - ECEF frame associated to measurement.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 double timeInterval)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 com.irurueta.units.Time timeInterval)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 double timeInterval)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 com.irurueta.units.Time timeInterval)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

Throws:

IllegalArgumentException - if provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(double timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if any provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.units.Time timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if any provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 double timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 com.irurueta.units.Time timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 double timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 com.irurueta.units.Time timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - ECEF frame associated to measurement.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - NED frame associated to measurements. Internally it will be converted to its corresponding ECEF frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 double timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 com.irurueta.units.Time timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 double timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 com.irurueta.units.Time timeInterval,
 double specificForceStandardDeviation,
 double angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force expressed in meters per squared second (m/s^2).

angularRateStandardDeviation - standard deviation of measured angular rate expressed in radians per second (rad/s).

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(double timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if any provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.units.Time timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if any provided value is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous END frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 double timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 com.irurueta.units.Time timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated ot measurement.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 double timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to tis corresponding ECEF frame.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 com.irurueta.units.Time timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - ECEF frame associated to measurement.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - NED frame associated to measurements. Internally it will be converted to tis corresponding ECEF frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated ot measurement. Internally it will be converted to its corresponding ECEF frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 double timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.ECEFFrame frame,
 com.irurueta.navigation.frames.ECEFFrame previousFrame,
 com.irurueta.units.Time timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current ECEF frame associated to measurement.

previousFrame - previous ECEF frame associated to measurement.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 double timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval expressed in seconds (s) between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(BodyKinematics kinematics,
 com.irurueta.navigation.frames.NEDFrame frame,
 com.irurueta.navigation.frames.NEDFrame previousFrame,
 com.irurueta.units.Time timeInterval,
 com.irurueta.units.Acceleration specificForceStandardDeviation,
 com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Constructor.

Parameters:

kinematics - current body kinematics measurement.

frame - current NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

previousFrame - previous NED frame associated to measurement. Internally it will be converted to its corresponding ECEF frame.

timeInterval - time interval between IMU measurements used to obtain current frame and previous frame.

specificForceStandardDeviation - standard deviation of measured specific force.

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if either time interval, specific force standard deviation or angular rate standard deviation is negative.

StandardDeviationFrameBodyKinematics

public StandardDeviationFrameBodyKinematics(StandardDeviationFrameBodyKinematics input)

Copy constructor.

Parameters:

input - instance to copy data from.

Method Details

getSpecificForceStandardDeviation

public double getSpecificForceStandardDeviation()

Gets standard deviation of measured specific force expressed in meters per squared second (m/s^2).

Returns:

standard deviation of measured specific force.

setSpecificForceStandardDeviation

public void setSpecificForceStandardDeviation(double specificForceStandardDeviation)

Sets standard deviation of measured specific force expressed in meters per squared second (m/s^2).

Parameters:

specificForceStandardDeviation - standard deviation of measured specific force.

Throws:

IllegalArgumentException - if provided value is negative.

getSpecificForceStandardDeviationAsAcceleration

public com.irurueta.units.Acceleration getSpecificForceStandardDeviationAsAcceleration()

Gets standard deviation of measured specific force.

Returns:

standard deviation of measured specific force.

getSpecificForceStandardDeviationAsAcceleration

public void getSpecificForceStandardDeviationAsAcceleration(com.irurueta.units.Acceleration result)

Gets standard deviation of measured specific force.

Parameters:

result - instance where standard deviation of measured specific force will be stored.

setSpecificForceStandardDeviation

public void setSpecificForceStandardDeviation(com.irurueta.units.Acceleration specificForceStandardDeviation)

Sets standard deviation of measured specific force.

Parameters:

specificForceStandardDeviation - standard deviation of measured specific force.

Throws:

IllegalArgumentException - if provided value is negative.

getAngularRateStandardDeviation

public double getAngularRateStandardDeviation()

Gets standard deviation of measured angular rate expressed in radians per second (rad/s).

Returns:

standard deviation of measured angular rate.

setAngularRateStandardDeviation

public void setAngularRateStandardDeviation(double angularRateStandardDeviation)

Sets standard deviation of measured angular rate expressed in radians per second (rad/s).

Parameters:

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if provided value is negative.

getAngularRateStandardDeviationAsAngularSpeed

public com.irurueta.units.AngularSpeed getAngularRateStandardDeviationAsAngularSpeed()

Gets standard deviation of measured angular rate.

Returns:

standard deviation of measured angular rate.

getAngularRateStandardDeviationAsAngularSpeed

public void getAngularRateStandardDeviationAsAngularSpeed(com.irurueta.units.AngularSpeed result)

Gets standard deviation of measured angular rate.

Parameters:

result - instance where standard deviation of measured angular rate will be stored.

setAngularRateStandardDeviation

public void setAngularRateStandardDeviation(com.irurueta.units.AngularSpeed angularRateStandardDeviation)

Sets standard deviation of measured angular rate.

Parameters:

angularRateStandardDeviation - standard deviation of measured angular rate.

Throws:

IllegalArgumentException - if provided value is negative.

copyFrom

public void copyFrom(StandardDeviationFrameBodyKinematics input)

Copies data of provided instance into this instance.

Parameters:

input - instance to copy data from.

copyTo

public void copyTo(StandardDeviationFrameBodyKinematics output)

Copies this instance data into provided instance.

Parameters:

output - destination instance where data will be copied to.

hashCode

public int hashCode()

Computes and returns hash code for this instance. Hash codes are almost unique values that are useful for fast classification and storage of objects in collections.

Overrides:

hashCode in class FrameBodyKinematics

Returns:

Hash code.

equals

public boolean equals(StandardDeviationFrameBodyKinematics other)

Checks if provided instance has exactly the same contents as this instance.

Parameters:

other - instance to be compared.

Returns:

true if both instances are considered to be equal, false otherwise.

equals

public boolean equals(StandardDeviationFrameBodyKinematics other,
 double threshold)

Checks if provided instance has contents similar to this instance up to provided threshold value.

Parameters:

other - instance to be compared.

threshold - maximum allowed difference between values.

Returns:

true if both instances are considered to be equal (up to provided threshold), false otherwise.

equals

public boolean equals(FrameBodyKinematics other,
 double threshold)

Checks if provided instance has contents similar to this instance up to provided threshold value.

Overrides:

equals in class FrameBodyKinematics

Parameters:

other - instance to be compared.

threshold - maximum allowed difference between kinematics and frame values.

Returns:

true if both instances are considered to be equal (up to provided threshold), false otherwise.

equals

public boolean equals(Object obj)

Checks if provided object is a StandardDeviationFrameBodyKinematics instance having exactly the same contents as this instance.

Overrides:

equals in class FrameBodyKinematics

Parameters:

obj - object to be compared.

Returns:

true if both objects are considered to be equal, false otherwise.

clone

protected Object clone()
                throws CloneNotSupportedException

Makes a copy of this instance.

Overrides:

clone in class FrameBodyKinematics

Returns:

a copy of this instance.

Throws:

CloneNotSupportedException - if clone fails for some reason.

convertAcceleration

private static double convertAcceleration(com.irurueta.units.Acceleration acceleration)

Converts provided acceleration to meters per squared second (m/s^2).

Parameters:

acceleration - instance to be converted.

Returns:

converted value.

convertAngularSpeed

private static double convertAngularSpeed(com.irurueta.units.AngularSpeed angularSpeed)

Converts provided angular speed to radians per second (rad/s).

Parameters:

angularSpeed - instance to be converted.

Returns:

converted value.