Package com.irurueta.navigation.inertial.calibration.accelerometer

Class KnownBiasAndGravityNormAccelerometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.BaseBiasGravityNormAccelerometerCalibrator<KnownBiasAndGravityNormAccelerometerCalibrator,KnownBiasAndGravityNormAccelerometerCalibratorListener>
com.irurueta.navigation.inertial.calibration.accelerometer.KnownBiasAndGravityNormAccelerometerCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, UnorderedStandardDeviationBodyKinematicsAccelerometerCalibrator
public class KnownBiasAndGravityNormAccelerometerCalibrator extends BaseBiasGravityNormAccelerometerCalibrator<KnownBiasAndGravityNormAccelerometerCalibrator,KnownBiasAndGravityNormAccelerometerCalibratorListener>
Estimates accelerometer cross couplings and scaling factors when accelerometer biases are known. This calibrator uses Levenberg-Marquardt to find a minimum least squared error solution.

To use this calibrator at least 7 measurements taken at a single position where gravity norm is known must be taken at 7 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 10 measurements are required.

Measured specific force is assumed to follow the model shown below: 

     fmeas = ba + (I + Ma) * ftrue + w
Where: - fmeas is the measured specific force. This is a 3x1 vector. - ba is accelerometer bias, which is known. This is a 3x1 vector. - I is the 3x3 identity matrix. - Ma is the 3x3 matrix containing cross-couplings and scaling factors. Ideally, on a perfect accelerometer, this should be a 3x3 zero matrix. - ftrue is ground-truth specific force. - w is measurement noise.

  • Constructor Details

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator()
      Constructor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(double[] bias)
      Constructor.
      Parameters:
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm,
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double biasX, double biasY, double biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasY - y-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      biasZ - z-coordinate of accelerometer bias. This is expressed in meters per squared second (m/s^2).
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      biasX - x-coordinate of accelerometer bias.
      biasY - y-coordinate of accelerometer bias.
      biasZ - z-coordinate of accelerometer bias.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      initialMxy - initial x-y cross coupling error.
      initialMxz - initial x-z cross coupling error.
      initialMyx - initial y-x cross coupling error.
      initialMyz - initial y-z cross coupling error.
      initialMzx - initial z-x cross coupling error.
      initialMzy - initial z-y cross coupling error.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias. This must have length 3 and is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

    • KnownBiasAndGravityNormAccelerometerCalibrator

      public KnownBiasAndGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix bias, com.irurueta.algebra.Matrix initialMa, KnownBiasAndGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      bias - known accelerometer bias.
      initialMa - initial scale factors and cross coupling errors matrix.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if either provided bias matrix is not 3x1 or scaling and coupling error matrix is not 3x3 or if provided gravity norm value is negative.

  • Method Details

    • setGroundTruthGravityNorm

      public void setGroundTruthGravityNorm(Double groundTruthGravityNorm) throws com.irurueta.navigation.LockedException
      Sets ground truth gravity norm to be expected at location where measurements have been made, expressed in meters per squared second (m/s^2).
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • setGroundTruthGravityNorm

      public void setGroundTruthGravityNorm(com.irurueta.units.Acceleration groundTruthGravityNorm) throws com.irurueta.navigation.LockedException
      Sets ground truth gravity norm to be expected at location where measurements have been made.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm or null if undefined.
      Throws:
      IllegalArgumentException - if provided value is negative.
      com.irurueta.navigation.LockedException - if calibrator is currently running.