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

Class KnownGravityNormAccelerometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.BaseGravityNormAccelerometerCalibrator<KnownGravityNormAccelerometerCalibrator,KnownGravityNormAccelerometerCalibratorListener>
com.irurueta.navigation.inertial.calibration.accelerometer.KnownGravityNormAccelerometerCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, UnknownBiasAccelerometerCalibrator, UnknownBiasNonLinearAccelerometerCalibrator, UnorderedStandardDeviationBodyKinematicsAccelerometerCalibrator, AccelerometerBiasUncertaintySource, AccelerometerCalibrationSource
public class KnownGravityNormAccelerometerCalibrator extends BaseGravityNormAccelerometerCalibrator<KnownGravityNormAccelerometerCalibrator,KnownGravityNormAccelerometerCalibratorListener>
Estimates accelerometer biases, cross couplings and scaling factors. This calibrator uses Levenberg-Marquardt to find a minimum least squared error solution.

To use this calibrator at least 10 measurements taken at a single position where gravity norm is known must be taken at 10 different unknown orientations and zero velocity when common z-axis is assumed, otherwise at least 13 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. Ideally, on a perfect accelerometer, this should be a 3x1 zero 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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator()
      Constructor.

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      listener - listener to handle events raised by this calibrator.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(double[] initialBias)
      Constructor.
      Parameters:
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(double[] initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double[] initialBias)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - collection of body kinematics measurements with standard deviations taken at the same position with zero velocity and unknown different orientations.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double initialBiasX, double initialBiasY, double initialBiasZ, 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).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double[] initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double[] initialBias)
      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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm expressed in meters per squared second (m/s^2).
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(Double groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, KnownGravityNormAccelerometerCalibratorListener 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double initialBiasX, double initialBiasY, double initialBiasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ)
      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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      initialSx - initial x scaling factor.
      initialSy - initial y scaling factor.
      initialSz - initial z scaling factor.
      Throws:
      IllegalArgumentException - if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double initialBiasX, double initialBiasY, double initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution. This is expressed in meters per squared second (m/s^2).
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.units.Acceleration initialBiasX, com.irurueta.units.Acceleration initialBiasY, com.irurueta.units.Acceleration initialBiasZ, double initialSx, double initialSy, double initialSz, double initialMxy, double initialMxz, double initialMyx, double initialMyz, double initialMzx, double initialMzy, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBiasX - initial x-coordinate of accelerometer bias to be used to find a solution.
      initialBiasY - initial y-coordinate of accelerometer bias to be used to find a solution.
      initialBiasZ - initial z-coordinate of accelerometer bias to be used to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double[] initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] initialBias)
      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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double[] initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias)
      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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, double[] initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial accelerometer bias to be used to find a solution. 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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.algebra.Matrix initialBias)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

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

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias)
      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.
      initialBias - initial bias to find a solution.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided gravity norm value is negative.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      groundTruthGravityNorm - ground truth gravity norm.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, 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.
      initialBias - initial bias to find a solution.
      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.

    • KnownGravityNormAccelerometerCalibrator

      public KnownGravityNormAccelerometerCalibrator(com.irurueta.units.Acceleration groundTruthGravityNorm, Collection<StandardDeviationBodyKinematics> measurements, boolean commonAxisUsed, com.irurueta.algebra.Matrix initialBias, com.irurueta.algebra.Matrix initialMa, KnownGravityNormAccelerometerCalibratorListener 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.
      initialBias - initial bias to find a solution.
      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.