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

Class PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

java.lang.Object
com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator
com.irurueta.navigation.inertial.calibration.accelerometer.PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator
All Implemented Interfaces:
AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, OrderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator
public class PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator extends RobustKnownBiasAndFrameAccelerometerCalibrator
Robustly estimates accelerometer cross couplings and scaling factors using a PROSAC algorithm to discard outliers. This estimator assumes that biases are known.

To use this calibrator at least 4 measurements at different known frames must be provided. In other words, accelerometer samples must be obtained at 4 different positions, orientations and velocities (although typically velocities are always zero).

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.

  • Field Details

    • DEFAULT_STOP_THRESHOLD

      public static final double DEFAULT_STOP_THRESHOLD
      Default value to be used for stop threshold. Stop threshold can be used to avoid keeping the algorithm unnecessarily iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.
      See Also:

    • MIN_STOP_THRESHOLD

      public static final double MIN_STOP_THRESHOLD
      Minimum allowed stop threshold value.
      See Also:

    • stopThreshold

      private double stopThreshold
      Threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm iterating too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.

    • qualityScores

      private double[] qualityScores
      Quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.

  • Constructor Details

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator()
      Constructor.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener 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.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias 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.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias 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.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      listener - listener to handle events raised by this calibrator.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      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 array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      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 array does not have length 3.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

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

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      bias - known accelerometer bias.
      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 matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      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 matrix is not 3x1.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      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 quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias 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 quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias 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 quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias 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 quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasY - known y coordinate of accelerometer bias expressed in meters per squared second (m/s^2).
      biasZ - known z coordinate of accelerometer bias 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 quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      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 quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      biasX - known x coordinate of accelerometer bias.
      biasY - known y coordinate of accelerometer bias.
      biasZ - known z coordinate of accelerometer bias.
      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 quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double[] bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known accelerometer bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known accelerometer bias.
      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 bias array does not have length 3 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided bias array does not have length 3 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      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 bias array does not have length 3 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known accelerometer bias.
      listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      listener - listener to handle events raised by this calibrator.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      bias - known accelerometer bias.
      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 bias matrix is not 3x1 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
      Throws:
      IllegalArgumentException - if provided bias matrix is not 3x1 or if provided quality scores length is smaller than 4 samples.

    • PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator

      public PROMedSRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
      Constructor.
      Parameters:
      qualityScores - quality scores corresponding to each provided measurement. The larger the score value the better the quality of the sample.
      measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
      bias - known accelerometer bias.
      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 bias matrix is not 3x1 or if provided quality scores length is smaller than 4 samples.

  • Method Details

    • getStopThreshold

      public double getStopThreshold()
      Returns threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.
      Returns:
      stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.

    • setStopThreshold

      public void setStopThreshold(double stopThreshold) throws com.irurueta.navigation.LockedException
      Sets threshold to be used to keep the algorithm iterating in case that best estimated threshold using median of residuals is not small enough. Once a solution is found that generates a threshold below this value, the algorithm will stop. The stop threshold can be used to prevent the LMedS algorithm to iterate too many times in cases where samples have a very similar accuracy. For instance, in cases where proportion of outliers is very small (close to 0%), and samples are very accurate (i.e. 1e-6), the algorithm would iterate for a long time trying to find the best solution when indeed there is no need to do that if a reasonable threshold has already been reached. Because of this behaviour the stop threshold can be set to a value much lower than the one typically used in RANSAC, and yet the algorithm could still produce even smaller thresholds in estimated results.
      Parameters:
      stopThreshold - stop threshold to stop the algorithm prematurely when a certain accuracy has been reached.
      Throws:
      IllegalArgumentException - if provided value is zero or negative.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • getQualityScores

      public double[] getQualityScores()
      Returns quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      Specified by:
      getQualityScores in interface QualityScoredAccelerometerCalibrator
      Overrides:
      getQualityScores in class RobustKnownBiasAndFrameAccelerometerCalibrator
      Returns:
      quality scores corresponding to each sample.

    • setQualityScores

      public void setQualityScores(double[] qualityScores) throws com.irurueta.navigation.LockedException
      Sets quality scores corresponding to each provided sample. The larger the score value the better the quality of the sample.
      Specified by:
      setQualityScores in interface QualityScoredAccelerometerCalibrator
      Overrides:
      setQualityScores in class RobustKnownBiasAndFrameAccelerometerCalibrator
      Parameters:
      qualityScores - quality scores corresponding to each sample.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than minimum required samples.
      com.irurueta.navigation.LockedException - if calibrator is currently running.

    • isReady

      public boolean isReady()
      Indicates whether solver is ready to find a solution.
      Specified by:
      isReady in interface AccelerometerCalibrator
      Overrides:
      isReady in class RobustKnownBiasAndFrameAccelerometerCalibrator
      Returns:
      true if solver is ready, false otherwise.

    • calibrate

      public void calibrate() throws com.irurueta.navigation.LockedException, com.irurueta.navigation.NotReadyException, CalibrationException
      Estimates accelerometer calibration parameters containing scale factors and cross-coupling errors.
      Throws:
      com.irurueta.navigation.LockedException - if calibrator is currently running.
      com.irurueta.navigation.NotReadyException - if calibrator is not ready.
      CalibrationException - if estimation fails for numerical reasons.

    • getMethod

      public com.irurueta.numerical.robust.RobustEstimatorMethod getMethod()
      Returns method being used for robust estimation.
      Specified by:
      getMethod in class RobustKnownBiasAndFrameAccelerometerCalibrator
      Returns:
      method being used for robust estimation.

    • isQualityScoresRequired

      public boolean isQualityScoresRequired()
      Indicates whether this calibrator requires quality scores for each measurement or not.
      Returns:
      true if quality scores are required, false otherwise.

    • internalSetQualityScores

      private void internalSetQualityScores(double[] qualityScores)
      Sets quality scores corresponding to each provided sample. This method is used internally and does not check whether instance is locked or not.
      Parameters:
      qualityScores - quality scores to be set.
      Throws:
      IllegalArgumentException - if provided quality scores length is smaller than 4 samples.