com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator

com.irurueta.navigation.inertial.calibration.accelerometer.PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

All Implemented Interfaces:: AccelerometerCalibrator, AccelerometerNonLinearCalibrator, KnownBiasAccelerometerCalibrator, OrderedStandardDeviationFrameBodyKinematicsAccelerometerCalibrator, QualityScoredAccelerometerCalibrator

public class PROSACRobustKnownBiasAndFrameAccelerometerCalibrator 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 Summary

Fields

Modifier and Type

Field

Description

private boolean

computeAndKeepInliers

Indicates whether inliers must be computed and kept.

private boolean

computeAndKeepResiduals

Indicates whether residuals must be computed and kept.

static final boolean

DEFAULT_COMPUTE_AND_KEEP_INLIERS

Indicates that by default inliers will only be computed but not kept.

static final boolean

DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

Indicates that by default residuals will only be computed but not kept.

static final double

DEFAULT_THRESHOLD

Constant defining default threshold to determine whether samples are inliers or not.

static final double

MIN_THRESHOLD

Minimum value that can be set as threshold.

private double[]

qualityScores

Quality scores corresponding to each provided sample.

private double

threshold

Threshold to determine whether samples are inliers or not when testing possible solutions.

Fields inherited from class com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator
confidence, DEFAULT_CONFIDENCE, DEFAULT_KEEP_COVARIANCE, DEFAULT_MAX_ITERATIONS, DEFAULT_PROGRESS_DELTA, DEFAULT_REFINE_PRELIMINARY_SOLUTIONS, DEFAULT_REFINE_RESULT, DEFAULT_ROBUST_METHOD, DEFAULT_USE_COMMON_Z_AXIS, DEFAULT_USE_LINEAR_CALIBRATOR, inliersData, listener, MAX_CONFIDENCE, MAX_PROGRESS_DELTA, maxIterations, measurements, MIN_CONFIDENCE, MIN_ITERATIONS, MIN_PROGRESS_DELTA, MINIMUM_MEASUREMENTS, preliminarySubsetSize, progressDelta, refineResult, running
Constructor Summary

Constructors

Constructor

Description

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator()

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double[] bias)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double[] bias, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] qualityScores, List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double[] bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, double biasX, double biasY, double biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.algebra.Matrix bias, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, boolean commonAxisUsed, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements, com.irurueta.units.Acceleration biasX, com.irurueta.units.Acceleration biasY, com.irurueta.units.Acceleration biasZ, RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)

Constructor.
Method Summary

Modifier and Type

Method

Description

void

calibrate()

Estimates accelerometer calibration parameters containing scale factors and cross-coupling errors.

com.irurueta.numerical.robust.RobustEstimatorMethod

getMethod()

Returns method being used for robust estimation.

double[]

getQualityScores()

Returns quality scores corresponding to each provided sample.

double

getThreshold()

Gets threshold to determine whether samples are inliers or not when testing possible solutions.

private void

internalSetQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided sample.

boolean

isComputeAndKeepInliersEnabled()

Indicates whether inliers must be computed and kept.

boolean

isComputeAndKeepResiduals()

Indicates whether residuals must be computed and kept.

boolean

isQualityScoresRequired()

Indicates whether this calibrator requires quality scores for each measurement or not.

boolean

isReady()

Indicates whether solver is ready to find a solution.

void

setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers)

Specifies whether inliers must be computed and kept.

void

setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals)

Specifies whether residuals must be computed and kept.

void

setQualityScores(double[] qualityScores)

Sets quality scores corresponding to each provided sample.

void

setThreshold(double threshold)

Sets threshold to determine whether samples are inliers or not when testing possible solutions.

Methods inherited from class com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator
attemptRefine, computeError, computePreliminarySolutions, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, create, getBias, getBias, getBiasAsMatrix, getBiasAsMatrix, getBiasAsTriad, getBiasAsTriad, getBiasX, getBiasXAsAcceleration, getBiasXAsAcceleration, getBiasY, getBiasYAsAcceleration, getBiasYAsAcceleration, getBiasZ, getBiasZAsAcceleration, getBiasZAsAcceleration, getConfidence, getEstimatedChiSq, getEstimatedCovariance, getEstimatedMa, getEstimatedMse, getEstimatedMxy, getEstimatedMxz, getEstimatedMyx, getEstimatedMyz, getEstimatedMzx, getEstimatedMzy, getEstimatedSx, getEstimatedSy, getEstimatedSz, getInitialMa, getInitialMa, getInitialMxy, getInitialMxz, getInitialMyx, getInitialMyz, getInitialMzx, getInitialMzy, getInitialSx, getInitialSy, getInitialSz, getInliersData, getListener, getMaxIterations, getMeasurements, getMeasurementType, getMinimumRequiredMeasurements, getPreliminarySubsetSize, getProgressDelta, isCommonAxisUsed, isCovarianceKept, isLinearCalibratorUsed, isOrderedMeasurementsRequired, isPreliminarySolutionRefined, isResultRefined, isRunning, setBias, setBias, setBias, setBiasCoordinates, setBiasCoordinates, setBiasX, setBiasX, setBiasY, setBiasY, setBiasZ, setBiasZ, setCommonAxisUsed, setConfidence, setCovarianceKept, setInitialCrossCouplingErrors, setInitialMa, setInitialMxy, setInitialMxz, setInitialMyx, setInitialMyz, setInitialMzx, setInitialMzy, setInitialScalingFactors, setInitialScalingFactorsAndCrossCouplingErrors, setInitialSx, setInitialSy, setInitialSz, setLinearCalibratorUsed, setListener, setMaxIterations, setMeasurements, setPreliminarySolutionRefined, setPreliminarySubsetSize, setProgressDelta, setResultRefined

Methods inherited from class java.lang.Object
clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Field Details
- DEFAULT_THRESHOLD
  
  public static final double DEFAULT_THRESHOLD
  
  Constant defining default threshold to determine whether samples are inliers or not.
  See Also:
  
  Constant Field Values
- MIN_THRESHOLD
  
  public static final double MIN_THRESHOLD
  
  Minimum value that can be set as threshold. Threshold must be strictly greater than 0.0.
  See Also:
  
  Constant Field Values
- DEFAULT_COMPUTE_AND_KEEP_INLIERS
  
  public static final boolean DEFAULT_COMPUTE_AND_KEEP_INLIERS
  
  Indicates that by default inliers will only be computed but not kept.
  See Also:
  
  Constant Field Values
- DEFAULT_COMPUTE_AND_KEEP_RESIDUALS
  
  public static final boolean DEFAULT_COMPUTE_AND_KEEP_RESIDUALS
  
  Indicates that by default residuals will only be computed but not kept.
  See Also:
  
  Constant Field Values
- threshold
  
  private double threshold
  
  Threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on distance between estimated position and distances provided for each sample.
- computeAndKeepInliers
  
  private boolean computeAndKeepInliers
  
  Indicates whether inliers must be computed and kept.
- computeAndKeepResiduals
  
  private boolean computeAndKeepResiduals
  
  Indicates whether residuals must be computed and kept.
- 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
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator()
  
  Constructor.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(RobustKnownBiasAndFrameAccelerometerCalibratorListener listener)
  
  Constructor.
  
  Parameters:
  
  listener - listener to be notified of events such as when estimation starts, ends or its progress significantly changes.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(List<StandardDeviationFrameBodyKinematics> measurements)
  
  Constructor.
  
  Parameters:
  
  measurements - list of body kinematics measurements with standard deviations taken at different frames (positions, orientations and velocities).
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(boolean commonAxisUsed)
  
  Constructor.
  
  Parameters:
  
  commonAxisUsed - indicates whether z-axis is assumed to be common for accelerometer and gyroscope.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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).
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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).
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(double[] bias)
  
  Constructor.
  
  Parameters:
  
  bias - known accelerometer bias.
  
  Throws:
  
  IllegalArgumentException - if provided array does not have length 3.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(com.irurueta.algebra.Matrix bias)
  
  Constructor.
  
  Parameters:
  
  bias - known accelerometer bias.
  
  Throws:
  
  IllegalArgumentException - if provided matrix is not 3x1.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
  
  Throws:
  
  IllegalArgumentException - if provided quality scores length is smaller than 4 samples.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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.
- PROSACRobustKnownBiasAndFrameAccelerometerCalibrator
  
  public PROSACRobustKnownBiasAndFrameAccelerometerCalibrator(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
- getThreshold
  
  public double getThreshold()
  
  Gets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured specific forces and the ones generated with estimated calibration parameters provided for each sample.
  
  Returns:
  
  threshold to determine whether samples are inliers or not.
- setThreshold
  
  public void setThreshold(double threshold) throws com.irurueta.navigation.LockedException
  
  Sets threshold to determine whether samples are inliers or not when testing possible solutions. The threshold refers to the amount of error on norm between measured specific forces and the ones generated with estimated calibration parameters provided for each sample.
  
  Parameters:
  
  threshold - threshold to determine whether samples are inliers or not.
  
  Throws:
  
  IllegalArgumentException - if provided value is equal or less than zero.
  
  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.
- isComputeAndKeepInliersEnabled
  
  public boolean isComputeAndKeepInliersEnabled()
  
  Indicates whether inliers must be computed and kept.
  
  Returns:
  
  true if inliers must be computed and kept, false if inliers only need to be computed but not kept.
- setComputeAndKeepInliersEnabled
  
  public void setComputeAndKeepInliersEnabled(boolean computeAndKeepInliers) throws com.irurueta.navigation.LockedException
  
  Specifies whether inliers must be computed and kept.
  
  Parameters:
  
  computeAndKeepInliers - true if inliers must be computed and kept, false if inliers only need to be computed but not kept.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- isComputeAndKeepResiduals
  
  public boolean isComputeAndKeepResiduals()
  
  Indicates whether residuals must be computed and kept.
  
  Returns:
  
  true if residuals must be computed and kept, false if residuals only need to be computed but not kept.
- setComputeAndKeepResidualsEnabled
  
  public void setComputeAndKeepResidualsEnabled(boolean computeAndKeepResiduals) throws com.irurueta.navigation.LockedException
  
  Specifies whether residuals must be computed and kept.
  
  Parameters:
  
  computeAndKeepResiduals - true if residuals must be computed and kept, false if residuals only need to be computed but not kept.
  
  Throws:
  
  com.irurueta.navigation.LockedException - if calibrator is currently running.
- 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.

Class PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

Field Summary

Fields inherited from class com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator

Constructor Summary

Method Summary

Methods inherited from class com.irurueta.navigation.inertial.calibration.accelerometer.RobustKnownBiasAndFrameAccelerometerCalibrator

Methods inherited from class java.lang.Object

Field Details

DEFAULT_THRESHOLD

MIN_THRESHOLD

DEFAULT_COMPUTE_AND_KEEP_INLIERS

DEFAULT_COMPUTE_AND_KEEP_RESIDUALS

threshold

computeAndKeepInliers

computeAndKeepResiduals

qualityScores

Constructor Details

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator

PROSACRobustKnownBiasAndFrameAccelerometerCalibrator